diff --git a/dataset.json b/dataset.json new file mode 100644 index 0000000000000000000000000000000000000000..b1a217b973435cbf2d6292de0615561edd22d0e2 --- /dev/null +++ b/dataset.json @@ -0,0 +1,72032 @@ +{ + "categories": [ + "success", + "vortex_off", + "tube_empty", + "cap_open", + "tube_drop", + "wrong_orientation", + "wrong_rack", + "rack_flipped" + ], + "expected_scene_count": 2400, + "expected_video_count": 7200, + "fps": 30, + "full_dataset_quality_passed": false, + "generation_complete": true, + "name": "vortexing_2400scenes_7200videos_1920x1200_20260911", + "resolution": [ + 1920, + 1200 + ], + "scene_count": 2400, + "schema_version": 2, + "video_count": 7200, + "videos": [ + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000000/left.json", + "scene_id": "cap_open/scene_000000", + "seed": 23260909, + "shared_state": "cap_open/scene_000000/shared_state.npz", + "video": "cap_open/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000000/front.json", + "scene_id": "cap_open/scene_000000", + "seed": 23260909, + "shared_state": "cap_open/scene_000000/shared_state.npz", + "video": "cap_open/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000000/right.json", + "scene_id": "cap_open/scene_000000", + "seed": 23260909, + "shared_state": "cap_open/scene_000000/shared_state.npz", + "video": "cap_open/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000001/left.json", + "scene_id": "cap_open/scene_000001", + "seed": 23270910, + "shared_state": "cap_open/scene_000001/shared_state.npz", + "video": "cap_open/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000001/front.json", + "scene_id": "cap_open/scene_000001", + "seed": 23270910, + "shared_state": "cap_open/scene_000001/shared_state.npz", + "video": "cap_open/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000001/right.json", + "scene_id": "cap_open/scene_000001", + "seed": 23270910, + "shared_state": "cap_open/scene_000001/shared_state.npz", + "video": "cap_open/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000002/left.json", + "scene_id": "cap_open/scene_000002", + "seed": 23280909, + "shared_state": "cap_open/scene_000002/shared_state.npz", + "video": "cap_open/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000002/front.json", + "scene_id": "cap_open/scene_000002", + "seed": 23280909, + "shared_state": "cap_open/scene_000002/shared_state.npz", + "video": "cap_open/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000002/right.json", + "scene_id": "cap_open/scene_000002", + "seed": 23280909, + "shared_state": "cap_open/scene_000002/shared_state.npz", + "video": "cap_open/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000003/left.json", + "scene_id": "cap_open/scene_000003", + "seed": 23290909, + "shared_state": "cap_open/scene_000003/shared_state.npz", + "video": "cap_open/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000003/front.json", + "scene_id": "cap_open/scene_000003", + "seed": 23290909, + "shared_state": "cap_open/scene_000003/shared_state.npz", + "video": "cap_open/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000003/right.json", + "scene_id": "cap_open/scene_000003", + "seed": 23290909, + "shared_state": "cap_open/scene_000003/shared_state.npz", + "video": "cap_open/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000004/left.json", + "scene_id": "cap_open/scene_000004", + "seed": 23300909, + "shared_state": "cap_open/scene_000004/shared_state.npz", + "video": "cap_open/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000004/front.json", + "scene_id": "cap_open/scene_000004", + "seed": 23300909, + "shared_state": "cap_open/scene_000004/shared_state.npz", + "video": "cap_open/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000004/right.json", + "scene_id": "cap_open/scene_000004", + "seed": 23300909, + "shared_state": "cap_open/scene_000004/shared_state.npz", + "video": "cap_open/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000005/left.json", + "scene_id": "cap_open/scene_000005", + "seed": 23310909, + "shared_state": "cap_open/scene_000005/shared_state.npz", + "video": "cap_open/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000005/front.json", + "scene_id": "cap_open/scene_000005", + "seed": 23310909, + "shared_state": "cap_open/scene_000005/shared_state.npz", + "video": "cap_open/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000005/right.json", + "scene_id": "cap_open/scene_000005", + "seed": 23310909, + "shared_state": "cap_open/scene_000005/shared_state.npz", + "video": "cap_open/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000006/left.json", + "scene_id": "cap_open/scene_000006", + "seed": 23320910, + "shared_state": "cap_open/scene_000006/shared_state.npz", + "video": "cap_open/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000006/front.json", + "scene_id": "cap_open/scene_000006", + "seed": 23320910, + "shared_state": "cap_open/scene_000006/shared_state.npz", + "video": "cap_open/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000006/right.json", + "scene_id": "cap_open/scene_000006", + "seed": 23320910, + "shared_state": "cap_open/scene_000006/shared_state.npz", + "video": "cap_open/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000007/left.json", + "scene_id": "cap_open/scene_000007", + "seed": 23330909, + "shared_state": "cap_open/scene_000007/shared_state.npz", + "video": "cap_open/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000007/front.json", + "scene_id": "cap_open/scene_000007", + "seed": 23330909, + "shared_state": "cap_open/scene_000007/shared_state.npz", + "video": "cap_open/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000007/right.json", + "scene_id": "cap_open/scene_000007", + "seed": 23330909, + "shared_state": "cap_open/scene_000007/shared_state.npz", + "video": "cap_open/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000008/left.json", + "scene_id": "cap_open/scene_000008", + "seed": 23340910, + "shared_state": "cap_open/scene_000008/shared_state.npz", + "video": "cap_open/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000008/front.json", + "scene_id": "cap_open/scene_000008", + "seed": 23340910, + "shared_state": "cap_open/scene_000008/shared_state.npz", + "video": "cap_open/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000008/right.json", + "scene_id": "cap_open/scene_000008", + "seed": 23340910, + "shared_state": "cap_open/scene_000008/shared_state.npz", + "video": "cap_open/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000009/left.json", + "scene_id": "cap_open/scene_000009", + "seed": 23350909, + "shared_state": "cap_open/scene_000009/shared_state.npz", + "video": "cap_open/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000009/front.json", + "scene_id": "cap_open/scene_000009", + "seed": 23350909, + "shared_state": "cap_open/scene_000009/shared_state.npz", + "video": "cap_open/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000009/right.json", + "scene_id": "cap_open/scene_000009", + "seed": 23350909, + "shared_state": "cap_open/scene_000009/shared_state.npz", + "video": "cap_open/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000010/left.json", + "scene_id": "cap_open/scene_000010", + "seed": 23360910, + "shared_state": "cap_open/scene_000010/shared_state.npz", + "video": "cap_open/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000010/front.json", + "scene_id": "cap_open/scene_000010", + "seed": 23360910, + "shared_state": "cap_open/scene_000010/shared_state.npz", + "video": "cap_open/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000010/right.json", + "scene_id": "cap_open/scene_000010", + "seed": 23360910, + "shared_state": "cap_open/scene_000010/shared_state.npz", + "video": "cap_open/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000011/left.json", + "scene_id": "cap_open/scene_000011", + "seed": 23370909, + "shared_state": "cap_open/scene_000011/shared_state.npz", + "video": "cap_open/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000011/front.json", + "scene_id": "cap_open/scene_000011", + "seed": 23370909, + "shared_state": "cap_open/scene_000011/shared_state.npz", + "video": "cap_open/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000011/right.json", + "scene_id": "cap_open/scene_000011", + "seed": 23370909, + "shared_state": "cap_open/scene_000011/shared_state.npz", + "video": "cap_open/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000012/left.json", + "scene_id": "cap_open/scene_000012", + "seed": 23380910, + "shared_state": "cap_open/scene_000012/shared_state.npz", + "video": "cap_open/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000012/front.json", + "scene_id": "cap_open/scene_000012", + "seed": 23380910, + "shared_state": "cap_open/scene_000012/shared_state.npz", + "video": "cap_open/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000012/right.json", + "scene_id": "cap_open/scene_000012", + "seed": 23380910, + "shared_state": "cap_open/scene_000012/shared_state.npz", + "video": "cap_open/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000013/left.json", + "scene_id": "cap_open/scene_000013", + "seed": 23390910, + "shared_state": "cap_open/scene_000013/shared_state.npz", + "video": "cap_open/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000013/front.json", + "scene_id": "cap_open/scene_000013", + "seed": 23390910, + "shared_state": "cap_open/scene_000013/shared_state.npz", + "video": "cap_open/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000013/right.json", + "scene_id": "cap_open/scene_000013", + "seed": 23390910, + "shared_state": "cap_open/scene_000013/shared_state.npz", + "video": "cap_open/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000014/left.json", + "scene_id": "cap_open/scene_000014", + "seed": 23400909, + "shared_state": "cap_open/scene_000014/shared_state.npz", + "video": "cap_open/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000014/front.json", + "scene_id": "cap_open/scene_000014", + "seed": 23400909, + "shared_state": "cap_open/scene_000014/shared_state.npz", + "video": "cap_open/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000014/right.json", + "scene_id": "cap_open/scene_000014", + "seed": 23400909, + "shared_state": "cap_open/scene_000014/shared_state.npz", + "video": "cap_open/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000015/left.json", + "scene_id": "cap_open/scene_000015", + "seed": 23410910, + "shared_state": "cap_open/scene_000015/shared_state.npz", + "video": "cap_open/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000015/front.json", + "scene_id": "cap_open/scene_000015", + "seed": 23410910, + "shared_state": "cap_open/scene_000015/shared_state.npz", + "video": "cap_open/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000015/right.json", + "scene_id": "cap_open/scene_000015", + "seed": 23410910, + "shared_state": "cap_open/scene_000015/shared_state.npz", + "video": "cap_open/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000016/left.json", + "scene_id": "cap_open/scene_000016", + "seed": 23420909, + "shared_state": "cap_open/scene_000016/shared_state.npz", + "video": "cap_open/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000016/front.json", + "scene_id": "cap_open/scene_000016", + "seed": 23420909, + "shared_state": "cap_open/scene_000016/shared_state.npz", + "video": "cap_open/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000016/right.json", + "scene_id": "cap_open/scene_000016", + "seed": 23420909, + "shared_state": "cap_open/scene_000016/shared_state.npz", + "video": "cap_open/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000017/left.json", + "scene_id": "cap_open/scene_000017", + "seed": 23430909, + "shared_state": "cap_open/scene_000017/shared_state.npz", + "video": "cap_open/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000017/front.json", + "scene_id": "cap_open/scene_000017", + "seed": 23430909, + "shared_state": "cap_open/scene_000017/shared_state.npz", + "video": "cap_open/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000017/right.json", + "scene_id": "cap_open/scene_000017", + "seed": 23430909, + "shared_state": "cap_open/scene_000017/shared_state.npz", + "video": "cap_open/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000018/left.json", + "scene_id": "cap_open/scene_000018", + "seed": 23440910, + "shared_state": "cap_open/scene_000018/shared_state.npz", + "video": "cap_open/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000018/front.json", + "scene_id": "cap_open/scene_000018", + "seed": 23440910, + "shared_state": "cap_open/scene_000018/shared_state.npz", + "video": "cap_open/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000018/right.json", + "scene_id": "cap_open/scene_000018", + "seed": 23440910, + "shared_state": "cap_open/scene_000018/shared_state.npz", + "video": "cap_open/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000019/left.json", + "scene_id": "cap_open/scene_000019", + "seed": 23450910, + "shared_state": "cap_open/scene_000019/shared_state.npz", + "video": "cap_open/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000019/front.json", + "scene_id": "cap_open/scene_000019", + "seed": 23450910, + "shared_state": "cap_open/scene_000019/shared_state.npz", + "video": "cap_open/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000019/right.json", + "scene_id": "cap_open/scene_000019", + "seed": 23450910, + "shared_state": "cap_open/scene_000019/shared_state.npz", + "video": "cap_open/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000020/left.json", + "scene_id": "cap_open/scene_000020", + "seed": 23460909, + "shared_state": "cap_open/scene_000020/shared_state.npz", + "video": "cap_open/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000020/front.json", + "scene_id": "cap_open/scene_000020", + "seed": 23460909, + "shared_state": "cap_open/scene_000020/shared_state.npz", + "video": "cap_open/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000020/right.json", + "scene_id": "cap_open/scene_000020", + "seed": 23460909, + "shared_state": "cap_open/scene_000020/shared_state.npz", + "video": "cap_open/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000021/left.json", + "scene_id": "cap_open/scene_000021", + "seed": 23470909, + "shared_state": "cap_open/scene_000021/shared_state.npz", + "video": "cap_open/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000021/front.json", + "scene_id": "cap_open/scene_000021", + "seed": 23470909, + "shared_state": "cap_open/scene_000021/shared_state.npz", + "video": "cap_open/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000021/right.json", + "scene_id": "cap_open/scene_000021", + "seed": 23470909, + "shared_state": "cap_open/scene_000021/shared_state.npz", + "video": "cap_open/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000022/left.json", + "scene_id": "cap_open/scene_000022", + "seed": 23480910, + "shared_state": "cap_open/scene_000022/shared_state.npz", + "video": "cap_open/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000022/front.json", + "scene_id": "cap_open/scene_000022", + "seed": 23480910, + "shared_state": "cap_open/scene_000022/shared_state.npz", + "video": "cap_open/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000022/right.json", + "scene_id": "cap_open/scene_000022", + "seed": 23480910, + "shared_state": "cap_open/scene_000022/shared_state.npz", + "video": "cap_open/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000023/left.json", + "scene_id": "cap_open/scene_000023", + "seed": 23490910, + "shared_state": "cap_open/scene_000023/shared_state.npz", + "video": "cap_open/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000023/front.json", + "scene_id": "cap_open/scene_000023", + "seed": 23490910, + "shared_state": "cap_open/scene_000023/shared_state.npz", + "video": "cap_open/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000023/right.json", + "scene_id": "cap_open/scene_000023", + "seed": 23490910, + "shared_state": "cap_open/scene_000023/shared_state.npz", + "video": "cap_open/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000024/left.json", + "scene_id": "cap_open/scene_000024", + "seed": 23500909, + "shared_state": "cap_open/scene_000024/shared_state.npz", + "video": "cap_open/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000024/front.json", + "scene_id": "cap_open/scene_000024", + "seed": 23500909, + "shared_state": "cap_open/scene_000024/shared_state.npz", + "video": "cap_open/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000024/right.json", + "scene_id": "cap_open/scene_000024", + "seed": 23500909, + "shared_state": "cap_open/scene_000024/shared_state.npz", + "video": "cap_open/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000025/left.json", + "scene_id": "cap_open/scene_000025", + "seed": 23510909, + "shared_state": "cap_open/scene_000025/shared_state.npz", + "video": "cap_open/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000025/front.json", + "scene_id": "cap_open/scene_000025", + "seed": 23510909, + "shared_state": "cap_open/scene_000025/shared_state.npz", + "video": "cap_open/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000025/right.json", + "scene_id": "cap_open/scene_000025", + "seed": 23510909, + "shared_state": "cap_open/scene_000025/shared_state.npz", + "video": "cap_open/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000026/left.json", + "scene_id": "cap_open/scene_000026", + "seed": 23520909, + "shared_state": "cap_open/scene_000026/shared_state.npz", + "video": "cap_open/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000026/front.json", + "scene_id": "cap_open/scene_000026", + "seed": 23520909, + "shared_state": "cap_open/scene_000026/shared_state.npz", + "video": "cap_open/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000026/right.json", + "scene_id": "cap_open/scene_000026", + "seed": 23520909, + "shared_state": "cap_open/scene_000026/shared_state.npz", + "video": "cap_open/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000027/left.json", + "scene_id": "cap_open/scene_000027", + "seed": 23530910, + "shared_state": "cap_open/scene_000027/shared_state.npz", + "video": "cap_open/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000027/front.json", + "scene_id": "cap_open/scene_000027", + "seed": 23530910, + "shared_state": "cap_open/scene_000027/shared_state.npz", + "video": "cap_open/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000027/right.json", + "scene_id": "cap_open/scene_000027", + "seed": 23530910, + "shared_state": "cap_open/scene_000027/shared_state.npz", + "video": "cap_open/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000028/left.json", + "scene_id": "cap_open/scene_000028", + "seed": 23540909, + "shared_state": "cap_open/scene_000028/shared_state.npz", + "video": "cap_open/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000028/front.json", + "scene_id": "cap_open/scene_000028", + "seed": 23540909, + "shared_state": "cap_open/scene_000028/shared_state.npz", + "video": "cap_open/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000028/right.json", + "scene_id": "cap_open/scene_000028", + "seed": 23540909, + "shared_state": "cap_open/scene_000028/shared_state.npz", + "video": "cap_open/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000029/left.json", + "scene_id": "cap_open/scene_000029", + "seed": 23550909, + "shared_state": "cap_open/scene_000029/shared_state.npz", + "video": "cap_open/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000029/front.json", + "scene_id": "cap_open/scene_000029", + "seed": 23550909, + "shared_state": "cap_open/scene_000029/shared_state.npz", + "video": "cap_open/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000029/right.json", + "scene_id": "cap_open/scene_000029", + "seed": 23550909, + "shared_state": "cap_open/scene_000029/shared_state.npz", + "video": "cap_open/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000030/left.json", + "scene_id": "cap_open/scene_000030", + "seed": 23560909, + "shared_state": "cap_open/scene_000030/shared_state.npz", + "video": "cap_open/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000030/front.json", + "scene_id": "cap_open/scene_000030", + "seed": 23560909, + "shared_state": "cap_open/scene_000030/shared_state.npz", + "video": "cap_open/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000030/right.json", + "scene_id": "cap_open/scene_000030", + "seed": 23560909, + "shared_state": "cap_open/scene_000030/shared_state.npz", + "video": "cap_open/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000031/left.json", + "scene_id": "cap_open/scene_000031", + "seed": 23570910, + "shared_state": "cap_open/scene_000031/shared_state.npz", + "video": "cap_open/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000031/front.json", + "scene_id": "cap_open/scene_000031", + "seed": 23570910, + "shared_state": "cap_open/scene_000031/shared_state.npz", + "video": "cap_open/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000031/right.json", + "scene_id": "cap_open/scene_000031", + "seed": 23570910, + "shared_state": "cap_open/scene_000031/shared_state.npz", + "video": "cap_open/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000032/left.json", + "scene_id": "cap_open/scene_000032", + "seed": 23580909, + "shared_state": "cap_open/scene_000032/shared_state.npz", + "video": "cap_open/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000032/front.json", + "scene_id": "cap_open/scene_000032", + "seed": 23580909, + "shared_state": "cap_open/scene_000032/shared_state.npz", + "video": "cap_open/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000032/right.json", + "scene_id": "cap_open/scene_000032", + "seed": 23580909, + "shared_state": "cap_open/scene_000032/shared_state.npz", + "video": "cap_open/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000033/left.json", + "scene_id": "cap_open/scene_000033", + "seed": 23590909, + "shared_state": "cap_open/scene_000033/shared_state.npz", + "video": "cap_open/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000033/front.json", + "scene_id": "cap_open/scene_000033", + "seed": 23590909, + "shared_state": "cap_open/scene_000033/shared_state.npz", + "video": "cap_open/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000033/right.json", + "scene_id": "cap_open/scene_000033", + "seed": 23590909, + "shared_state": "cap_open/scene_000033/shared_state.npz", + "video": "cap_open/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000034/left.json", + "scene_id": "cap_open/scene_000034", + "seed": 23600910, + "shared_state": "cap_open/scene_000034/shared_state.npz", + "video": "cap_open/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000034/front.json", + "scene_id": "cap_open/scene_000034", + "seed": 23600910, + "shared_state": "cap_open/scene_000034/shared_state.npz", + "video": "cap_open/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000034/right.json", + "scene_id": "cap_open/scene_000034", + "seed": 23600910, + "shared_state": "cap_open/scene_000034/shared_state.npz", + "video": "cap_open/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000035/left.json", + "scene_id": "cap_open/scene_000035", + "seed": 23610910, + "shared_state": "cap_open/scene_000035/shared_state.npz", + "video": "cap_open/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000035/front.json", + "scene_id": "cap_open/scene_000035", + "seed": 23610910, + "shared_state": "cap_open/scene_000035/shared_state.npz", + "video": "cap_open/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000035/right.json", + "scene_id": "cap_open/scene_000035", + "seed": 23610910, + "shared_state": "cap_open/scene_000035/shared_state.npz", + "video": "cap_open/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000036/left.json", + "scene_id": "cap_open/scene_000036", + "seed": 23620910, + "shared_state": "cap_open/scene_000036/shared_state.npz", + "video": "cap_open/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000036/front.json", + "scene_id": "cap_open/scene_000036", + "seed": 23620910, + "shared_state": "cap_open/scene_000036/shared_state.npz", + "video": "cap_open/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000036/right.json", + "scene_id": "cap_open/scene_000036", + "seed": 23620910, + "shared_state": "cap_open/scene_000036/shared_state.npz", + "video": "cap_open/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000037/left.json", + "scene_id": "cap_open/scene_000037", + "seed": 23630909, + "shared_state": "cap_open/scene_000037/shared_state.npz", + "video": "cap_open/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000037/front.json", + "scene_id": "cap_open/scene_000037", + "seed": 23630909, + "shared_state": "cap_open/scene_000037/shared_state.npz", + "video": "cap_open/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000037/right.json", + "scene_id": "cap_open/scene_000037", + "seed": 23630909, + "shared_state": "cap_open/scene_000037/shared_state.npz", + "video": "cap_open/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000038/left.json", + "scene_id": "cap_open/scene_000038", + "seed": 23640909, + "shared_state": "cap_open/scene_000038/shared_state.npz", + "video": "cap_open/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000038/front.json", + "scene_id": "cap_open/scene_000038", + "seed": 23640909, + "shared_state": "cap_open/scene_000038/shared_state.npz", + "video": "cap_open/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000038/right.json", + "scene_id": "cap_open/scene_000038", + "seed": 23640909, + "shared_state": "cap_open/scene_000038/shared_state.npz", + "video": "cap_open/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000039/left.json", + "scene_id": "cap_open/scene_000039", + "seed": 23650910, + "shared_state": "cap_open/scene_000039/shared_state.npz", + "video": "cap_open/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000039/front.json", + "scene_id": "cap_open/scene_000039", + "seed": 23650910, + "shared_state": "cap_open/scene_000039/shared_state.npz", + "video": "cap_open/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000039/right.json", + "scene_id": "cap_open/scene_000039", + "seed": 23650910, + "shared_state": "cap_open/scene_000039/shared_state.npz", + "video": "cap_open/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000040/left.json", + "scene_id": "cap_open/scene_000040", + "seed": 23660910, + "shared_state": "cap_open/scene_000040/shared_state.npz", + "video": "cap_open/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000040/front.json", + "scene_id": "cap_open/scene_000040", + "seed": 23660910, + "shared_state": "cap_open/scene_000040/shared_state.npz", + "video": "cap_open/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000040/right.json", + "scene_id": "cap_open/scene_000040", + "seed": 23660910, + "shared_state": "cap_open/scene_000040/shared_state.npz", + "video": "cap_open/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000041/left.json", + "scene_id": "cap_open/scene_000041", + "seed": 23670910, + "shared_state": "cap_open/scene_000041/shared_state.npz", + "video": "cap_open/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000041/front.json", + "scene_id": "cap_open/scene_000041", + "seed": 23670910, + "shared_state": "cap_open/scene_000041/shared_state.npz", + "video": "cap_open/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000041/right.json", + "scene_id": "cap_open/scene_000041", + "seed": 23670910, + "shared_state": "cap_open/scene_000041/shared_state.npz", + "video": "cap_open/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000042/left.json", + "scene_id": "cap_open/scene_000042", + "seed": 23680909, + "shared_state": "cap_open/scene_000042/shared_state.npz", + "video": "cap_open/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000042/front.json", + "scene_id": "cap_open/scene_000042", + "seed": 23680909, + "shared_state": "cap_open/scene_000042/shared_state.npz", + "video": "cap_open/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000042/right.json", + "scene_id": "cap_open/scene_000042", + "seed": 23680909, + "shared_state": "cap_open/scene_000042/shared_state.npz", + "video": "cap_open/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000043/left.json", + "scene_id": "cap_open/scene_000043", + "seed": 23690909, + "shared_state": "cap_open/scene_000043/shared_state.npz", + "video": "cap_open/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000043/front.json", + "scene_id": "cap_open/scene_000043", + "seed": 23690909, + "shared_state": "cap_open/scene_000043/shared_state.npz", + "video": "cap_open/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000043/right.json", + "scene_id": "cap_open/scene_000043", + "seed": 23690909, + "shared_state": "cap_open/scene_000043/shared_state.npz", + "video": "cap_open/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000044/left.json", + "scene_id": "cap_open/scene_000044", + "seed": 23700909, + "shared_state": "cap_open/scene_000044/shared_state.npz", + "video": "cap_open/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000044/front.json", + "scene_id": "cap_open/scene_000044", + "seed": 23700909, + "shared_state": "cap_open/scene_000044/shared_state.npz", + "video": "cap_open/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000044/right.json", + "scene_id": "cap_open/scene_000044", + "seed": 23700909, + "shared_state": "cap_open/scene_000044/shared_state.npz", + "video": "cap_open/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000045/left.json", + "scene_id": "cap_open/scene_000045", + "seed": 23710909, + "shared_state": "cap_open/scene_000045/shared_state.npz", + "video": "cap_open/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000045/front.json", + "scene_id": "cap_open/scene_000045", + "seed": 23710909, + "shared_state": "cap_open/scene_000045/shared_state.npz", + "video": "cap_open/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000045/right.json", + "scene_id": "cap_open/scene_000045", + "seed": 23710909, + "shared_state": "cap_open/scene_000045/shared_state.npz", + "video": "cap_open/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000046/left.json", + "scene_id": "cap_open/scene_000046", + "seed": 23720909, + "shared_state": "cap_open/scene_000046/shared_state.npz", + "video": "cap_open/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000046/front.json", + "scene_id": "cap_open/scene_000046", + "seed": 23720909, + "shared_state": "cap_open/scene_000046/shared_state.npz", + "video": "cap_open/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000046/right.json", + "scene_id": "cap_open/scene_000046", + "seed": 23720909, + "shared_state": "cap_open/scene_000046/shared_state.npz", + "video": "cap_open/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000047/left.json", + "scene_id": "cap_open/scene_000047", + "seed": 23730909, + "shared_state": "cap_open/scene_000047/shared_state.npz", + "video": "cap_open/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000047/front.json", + "scene_id": "cap_open/scene_000047", + "seed": 23730909, + "shared_state": "cap_open/scene_000047/shared_state.npz", + "video": "cap_open/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000047/right.json", + "scene_id": "cap_open/scene_000047", + "seed": 23730909, + "shared_state": "cap_open/scene_000047/shared_state.npz", + "video": "cap_open/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000048/left.json", + "scene_id": "cap_open/scene_000048", + "seed": 23740910, + "shared_state": "cap_open/scene_000048/shared_state.npz", + "video": "cap_open/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000048/front.json", + "scene_id": "cap_open/scene_000048", + "seed": 23740910, + "shared_state": "cap_open/scene_000048/shared_state.npz", + "video": "cap_open/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000048/right.json", + "scene_id": "cap_open/scene_000048", + "seed": 23740910, + "shared_state": "cap_open/scene_000048/shared_state.npz", + "video": "cap_open/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000049/left.json", + "scene_id": "cap_open/scene_000049", + "seed": 23750909, + "shared_state": "cap_open/scene_000049/shared_state.npz", + "video": "cap_open/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000049/front.json", + "scene_id": "cap_open/scene_000049", + "seed": 23750909, + "shared_state": "cap_open/scene_000049/shared_state.npz", + "video": "cap_open/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000049/right.json", + "scene_id": "cap_open/scene_000049", + "seed": 23750909, + "shared_state": "cap_open/scene_000049/shared_state.npz", + "video": "cap_open/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000050/left.json", + "scene_id": "cap_open/scene_000050", + "seed": 23760910, + "shared_state": "cap_open/scene_000050/shared_state.npz", + "video": "cap_open/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000050/front.json", + "scene_id": "cap_open/scene_000050", + "seed": 23760910, + "shared_state": "cap_open/scene_000050/shared_state.npz", + "video": "cap_open/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000050/right.json", + "scene_id": "cap_open/scene_000050", + "seed": 23760910, + "shared_state": "cap_open/scene_000050/shared_state.npz", + "video": "cap_open/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000051/left.json", + "scene_id": "cap_open/scene_000051", + "seed": 23770909, + "shared_state": "cap_open/scene_000051/shared_state.npz", + "video": "cap_open/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000051/front.json", + "scene_id": "cap_open/scene_000051", + "seed": 23770909, + "shared_state": "cap_open/scene_000051/shared_state.npz", + "video": "cap_open/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000051/right.json", + "scene_id": "cap_open/scene_000051", + "seed": 23770909, + "shared_state": "cap_open/scene_000051/shared_state.npz", + "video": "cap_open/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000052/left.json", + "scene_id": "cap_open/scene_000052", + "seed": 23780910, + "shared_state": "cap_open/scene_000052/shared_state.npz", + "video": "cap_open/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000052/front.json", + "scene_id": "cap_open/scene_000052", + "seed": 23780910, + "shared_state": "cap_open/scene_000052/shared_state.npz", + "video": "cap_open/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000052/right.json", + "scene_id": "cap_open/scene_000052", + "seed": 23780910, + "shared_state": "cap_open/scene_000052/shared_state.npz", + "video": "cap_open/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000053/left.json", + "scene_id": "cap_open/scene_000053", + "seed": 23790909, + "shared_state": "cap_open/scene_000053/shared_state.npz", + "video": "cap_open/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000053/front.json", + "scene_id": "cap_open/scene_000053", + "seed": 23790909, + "shared_state": "cap_open/scene_000053/shared_state.npz", + "video": "cap_open/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000053/right.json", + "scene_id": "cap_open/scene_000053", + "seed": 23790909, + "shared_state": "cap_open/scene_000053/shared_state.npz", + "video": "cap_open/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000054/left.json", + "scene_id": "cap_open/scene_000054", + "seed": 23800909, + "shared_state": "cap_open/scene_000054/shared_state.npz", + "video": "cap_open/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000054/front.json", + "scene_id": "cap_open/scene_000054", + "seed": 23800909, + "shared_state": "cap_open/scene_000054/shared_state.npz", + "video": "cap_open/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000054/right.json", + "scene_id": "cap_open/scene_000054", + "seed": 23800909, + "shared_state": "cap_open/scene_000054/shared_state.npz", + "video": "cap_open/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000055/left.json", + "scene_id": "cap_open/scene_000055", + "seed": 23810910, + "shared_state": "cap_open/scene_000055/shared_state.npz", + "video": "cap_open/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000055/front.json", + "scene_id": "cap_open/scene_000055", + "seed": 23810910, + "shared_state": "cap_open/scene_000055/shared_state.npz", + "video": "cap_open/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000055/right.json", + "scene_id": "cap_open/scene_000055", + "seed": 23810910, + "shared_state": "cap_open/scene_000055/shared_state.npz", + "video": "cap_open/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000056/left.json", + "scene_id": "cap_open/scene_000056", + "seed": 23820909, + "shared_state": "cap_open/scene_000056/shared_state.npz", + "video": "cap_open/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000056/front.json", + "scene_id": "cap_open/scene_000056", + "seed": 23820909, + "shared_state": "cap_open/scene_000056/shared_state.npz", + "video": "cap_open/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000056/right.json", + "scene_id": "cap_open/scene_000056", + "seed": 23820909, + "shared_state": "cap_open/scene_000056/shared_state.npz", + "video": "cap_open/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000057/left.json", + "scene_id": "cap_open/scene_000057", + "seed": 23830909, + "shared_state": "cap_open/scene_000057/shared_state.npz", + "video": "cap_open/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000057/front.json", + "scene_id": "cap_open/scene_000057", + "seed": 23830909, + "shared_state": "cap_open/scene_000057/shared_state.npz", + "video": "cap_open/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000057/right.json", + "scene_id": "cap_open/scene_000057", + "seed": 23830909, + "shared_state": "cap_open/scene_000057/shared_state.npz", + "video": "cap_open/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000058/left.json", + "scene_id": "cap_open/scene_000058", + "seed": 23840909, + "shared_state": "cap_open/scene_000058/shared_state.npz", + "video": "cap_open/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000058/front.json", + "scene_id": "cap_open/scene_000058", + "seed": 23840909, + "shared_state": "cap_open/scene_000058/shared_state.npz", + "video": "cap_open/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000058/right.json", + "scene_id": "cap_open/scene_000058", + "seed": 23840909, + "shared_state": "cap_open/scene_000058/shared_state.npz", + "video": "cap_open/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000059/left.json", + "scene_id": "cap_open/scene_000059", + "seed": 23850911, + "shared_state": "cap_open/scene_000059/shared_state.npz", + "video": "cap_open/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000059/front.json", + "scene_id": "cap_open/scene_000059", + "seed": 23850911, + "shared_state": "cap_open/scene_000059/shared_state.npz", + "video": "cap_open/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000059/right.json", + "scene_id": "cap_open/scene_000059", + "seed": 23850911, + "shared_state": "cap_open/scene_000059/shared_state.npz", + "video": "cap_open/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000060/left.json", + "scene_id": "cap_open/scene_000060", + "seed": 23860909, + "shared_state": "cap_open/scene_000060/shared_state.npz", + "video": "cap_open/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000060/front.json", + "scene_id": "cap_open/scene_000060", + "seed": 23860909, + "shared_state": "cap_open/scene_000060/shared_state.npz", + "video": "cap_open/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000060/right.json", + "scene_id": "cap_open/scene_000060", + "seed": 23860909, + "shared_state": "cap_open/scene_000060/shared_state.npz", + "video": "cap_open/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000061/left.json", + "scene_id": "cap_open/scene_000061", + "seed": 23870909, + "shared_state": "cap_open/scene_000061/shared_state.npz", + "video": "cap_open/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000061/front.json", + "scene_id": "cap_open/scene_000061", + "seed": 23870909, + "shared_state": "cap_open/scene_000061/shared_state.npz", + "video": "cap_open/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000061/right.json", + "scene_id": "cap_open/scene_000061", + "seed": 23870909, + "shared_state": "cap_open/scene_000061/shared_state.npz", + "video": "cap_open/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000062/left.json", + "scene_id": "cap_open/scene_000062", + "seed": 23880909, + "shared_state": "cap_open/scene_000062/shared_state.npz", + "video": "cap_open/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000062/front.json", + "scene_id": "cap_open/scene_000062", + "seed": 23880909, + "shared_state": "cap_open/scene_000062/shared_state.npz", + "video": "cap_open/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000062/right.json", + "scene_id": "cap_open/scene_000062", + "seed": 23880909, + "shared_state": "cap_open/scene_000062/shared_state.npz", + "video": "cap_open/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000063/left.json", + "scene_id": "cap_open/scene_000063", + "seed": 23890913, + "shared_state": "cap_open/scene_000063/shared_state.npz", + "video": "cap_open/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000063/front.json", + "scene_id": "cap_open/scene_000063", + "seed": 23890913, + "shared_state": "cap_open/scene_000063/shared_state.npz", + "video": "cap_open/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000063/right.json", + "scene_id": "cap_open/scene_000063", + "seed": 23890913, + "shared_state": "cap_open/scene_000063/shared_state.npz", + "video": "cap_open/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000064/left.json", + "scene_id": "cap_open/scene_000064", + "seed": 23900909, + "shared_state": "cap_open/scene_000064/shared_state.npz", + "video": "cap_open/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000064/front.json", + "scene_id": "cap_open/scene_000064", + "seed": 23900909, + "shared_state": "cap_open/scene_000064/shared_state.npz", + "video": "cap_open/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000064/right.json", + "scene_id": "cap_open/scene_000064", + "seed": 23900909, + "shared_state": "cap_open/scene_000064/shared_state.npz", + "video": "cap_open/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000065/left.json", + "scene_id": "cap_open/scene_000065", + "seed": 23910909, + "shared_state": "cap_open/scene_000065/shared_state.npz", + "video": "cap_open/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000065/front.json", + "scene_id": "cap_open/scene_000065", + "seed": 23910909, + "shared_state": "cap_open/scene_000065/shared_state.npz", + "video": "cap_open/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000065/right.json", + "scene_id": "cap_open/scene_000065", + "seed": 23910909, + "shared_state": "cap_open/scene_000065/shared_state.npz", + "video": "cap_open/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000066/left.json", + "scene_id": "cap_open/scene_000066", + "seed": 23920909, + "shared_state": "cap_open/scene_000066/shared_state.npz", + "video": "cap_open/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000066/front.json", + "scene_id": "cap_open/scene_000066", + "seed": 23920909, + "shared_state": "cap_open/scene_000066/shared_state.npz", + "video": "cap_open/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000066/right.json", + "scene_id": "cap_open/scene_000066", + "seed": 23920909, + "shared_state": "cap_open/scene_000066/shared_state.npz", + "video": "cap_open/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000067/left.json", + "scene_id": "cap_open/scene_000067", + "seed": 23930909, + "shared_state": "cap_open/scene_000067/shared_state.npz", + "video": "cap_open/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000067/front.json", + "scene_id": "cap_open/scene_000067", + "seed": 23930909, + "shared_state": "cap_open/scene_000067/shared_state.npz", + "video": "cap_open/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000067/right.json", + "scene_id": "cap_open/scene_000067", + "seed": 23930909, + "shared_state": "cap_open/scene_000067/shared_state.npz", + "video": "cap_open/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000068/left.json", + "scene_id": "cap_open/scene_000068", + "seed": 23940909, + "shared_state": "cap_open/scene_000068/shared_state.npz", + "video": "cap_open/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000068/front.json", + "scene_id": "cap_open/scene_000068", + "seed": 23940909, + "shared_state": "cap_open/scene_000068/shared_state.npz", + "video": "cap_open/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000068/right.json", + "scene_id": "cap_open/scene_000068", + "seed": 23940909, + "shared_state": "cap_open/scene_000068/shared_state.npz", + "video": "cap_open/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000069/left.json", + "scene_id": "cap_open/scene_000069", + "seed": 23950911, + "shared_state": "cap_open/scene_000069/shared_state.npz", + "video": "cap_open/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000069/front.json", + "scene_id": "cap_open/scene_000069", + "seed": 23950911, + "shared_state": "cap_open/scene_000069/shared_state.npz", + "video": "cap_open/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000069/right.json", + "scene_id": "cap_open/scene_000069", + "seed": 23950911, + "shared_state": "cap_open/scene_000069/shared_state.npz", + "video": "cap_open/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000070/left.json", + "scene_id": "cap_open/scene_000070", + "seed": 23960909, + "shared_state": "cap_open/scene_000070/shared_state.npz", + "video": "cap_open/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000070/front.json", + "scene_id": "cap_open/scene_000070", + "seed": 23960909, + "shared_state": "cap_open/scene_000070/shared_state.npz", + "video": "cap_open/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000070/right.json", + "scene_id": "cap_open/scene_000070", + "seed": 23960909, + "shared_state": "cap_open/scene_000070/shared_state.npz", + "video": "cap_open/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000071/left.json", + "scene_id": "cap_open/scene_000071", + "seed": 23970909, + "shared_state": "cap_open/scene_000071/shared_state.npz", + "video": "cap_open/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000071/front.json", + "scene_id": "cap_open/scene_000071", + "seed": 23970909, + "shared_state": "cap_open/scene_000071/shared_state.npz", + "video": "cap_open/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000071/right.json", + "scene_id": "cap_open/scene_000071", + "seed": 23970909, + "shared_state": "cap_open/scene_000071/shared_state.npz", + "video": "cap_open/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000072/left.json", + "scene_id": "cap_open/scene_000072", + "seed": 23980909, + "shared_state": "cap_open/scene_000072/shared_state.npz", + "video": "cap_open/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000072/front.json", + "scene_id": "cap_open/scene_000072", + "seed": 23980909, + "shared_state": "cap_open/scene_000072/shared_state.npz", + "video": "cap_open/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000072/right.json", + "scene_id": "cap_open/scene_000072", + "seed": 23980909, + "shared_state": "cap_open/scene_000072/shared_state.npz", + "video": "cap_open/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000073/left.json", + "scene_id": "cap_open/scene_000073", + "seed": 23990909, + "shared_state": "cap_open/scene_000073/shared_state.npz", + "video": "cap_open/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000073/front.json", + "scene_id": "cap_open/scene_000073", + "seed": 23990909, + "shared_state": "cap_open/scene_000073/shared_state.npz", + "video": "cap_open/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000073/right.json", + "scene_id": "cap_open/scene_000073", + "seed": 23990909, + "shared_state": "cap_open/scene_000073/shared_state.npz", + "video": "cap_open/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000074/left.json", + "scene_id": "cap_open/scene_000074", + "seed": 24000909, + "shared_state": "cap_open/scene_000074/shared_state.npz", + "video": "cap_open/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000074/front.json", + "scene_id": "cap_open/scene_000074", + "seed": 24000909, + "shared_state": "cap_open/scene_000074/shared_state.npz", + "video": "cap_open/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000074/right.json", + "scene_id": "cap_open/scene_000074", + "seed": 24000909, + "shared_state": "cap_open/scene_000074/shared_state.npz", + "video": "cap_open/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000075/left.json", + "scene_id": "cap_open/scene_000075", + "seed": 24010909, + "shared_state": "cap_open/scene_000075/shared_state.npz", + "video": "cap_open/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000075/front.json", + "scene_id": "cap_open/scene_000075", + "seed": 24010909, + "shared_state": "cap_open/scene_000075/shared_state.npz", + "video": "cap_open/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000075/right.json", + "scene_id": "cap_open/scene_000075", + "seed": 24010909, + "shared_state": "cap_open/scene_000075/shared_state.npz", + "video": "cap_open/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000076/left.json", + "scene_id": "cap_open/scene_000076", + "seed": 24020910, + "shared_state": "cap_open/scene_000076/shared_state.npz", + "video": "cap_open/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000076/front.json", + "scene_id": "cap_open/scene_000076", + "seed": 24020910, + "shared_state": "cap_open/scene_000076/shared_state.npz", + "video": "cap_open/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000076/right.json", + "scene_id": "cap_open/scene_000076", + "seed": 24020910, + "shared_state": "cap_open/scene_000076/shared_state.npz", + "video": "cap_open/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000077/left.json", + "scene_id": "cap_open/scene_000077", + "seed": 24030909, + "shared_state": "cap_open/scene_000077/shared_state.npz", + "video": "cap_open/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000077/front.json", + "scene_id": "cap_open/scene_000077", + "seed": 24030909, + "shared_state": "cap_open/scene_000077/shared_state.npz", + "video": "cap_open/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000077/right.json", + "scene_id": "cap_open/scene_000077", + "seed": 24030909, + "shared_state": "cap_open/scene_000077/shared_state.npz", + "video": "cap_open/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000078/left.json", + "scene_id": "cap_open/scene_000078", + "seed": 24040910, + "shared_state": "cap_open/scene_000078/shared_state.npz", + "video": "cap_open/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000078/front.json", + "scene_id": "cap_open/scene_000078", + "seed": 24040910, + "shared_state": "cap_open/scene_000078/shared_state.npz", + "video": "cap_open/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000078/right.json", + "scene_id": "cap_open/scene_000078", + "seed": 24040910, + "shared_state": "cap_open/scene_000078/shared_state.npz", + "video": "cap_open/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000079/left.json", + "scene_id": "cap_open/scene_000079", + "seed": 24050910, + "shared_state": "cap_open/scene_000079/shared_state.npz", + "video": "cap_open/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000079/front.json", + "scene_id": "cap_open/scene_000079", + "seed": 24050910, + "shared_state": "cap_open/scene_000079/shared_state.npz", + "video": "cap_open/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000079/right.json", + "scene_id": "cap_open/scene_000079", + "seed": 24050910, + "shared_state": "cap_open/scene_000079/shared_state.npz", + "video": "cap_open/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000080/left.json", + "scene_id": "cap_open/scene_000080", + "seed": 24060912, + "shared_state": "cap_open/scene_000080/shared_state.npz", + "video": "cap_open/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000080/front.json", + "scene_id": "cap_open/scene_000080", + "seed": 24060912, + "shared_state": "cap_open/scene_000080/shared_state.npz", + "video": "cap_open/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000080/right.json", + "scene_id": "cap_open/scene_000080", + "seed": 24060912, + "shared_state": "cap_open/scene_000080/shared_state.npz", + "video": "cap_open/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000081/left.json", + "scene_id": "cap_open/scene_000081", + "seed": 24070909, + "shared_state": "cap_open/scene_000081/shared_state.npz", + "video": "cap_open/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000081/front.json", + "scene_id": "cap_open/scene_000081", + "seed": 24070909, + "shared_state": "cap_open/scene_000081/shared_state.npz", + "video": "cap_open/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000081/right.json", + "scene_id": "cap_open/scene_000081", + "seed": 24070909, + "shared_state": "cap_open/scene_000081/shared_state.npz", + "video": "cap_open/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000082/left.json", + "scene_id": "cap_open/scene_000082", + "seed": 24080911, + "shared_state": "cap_open/scene_000082/shared_state.npz", + "video": "cap_open/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000082/front.json", + "scene_id": "cap_open/scene_000082", + "seed": 24080911, + "shared_state": "cap_open/scene_000082/shared_state.npz", + "video": "cap_open/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000082/right.json", + "scene_id": "cap_open/scene_000082", + "seed": 24080911, + "shared_state": "cap_open/scene_000082/shared_state.npz", + "video": "cap_open/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000083/left.json", + "scene_id": "cap_open/scene_000083", + "seed": 24090909, + "shared_state": "cap_open/scene_000083/shared_state.npz", + "video": "cap_open/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000083/front.json", + "scene_id": "cap_open/scene_000083", + "seed": 24090909, + "shared_state": "cap_open/scene_000083/shared_state.npz", + "video": "cap_open/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000083/right.json", + "scene_id": "cap_open/scene_000083", + "seed": 24090909, + "shared_state": "cap_open/scene_000083/shared_state.npz", + "video": "cap_open/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000084/left.json", + "scene_id": "cap_open/scene_000084", + "seed": 24100909, + "shared_state": "cap_open/scene_000084/shared_state.npz", + "video": "cap_open/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000084/front.json", + "scene_id": "cap_open/scene_000084", + "seed": 24100909, + "shared_state": "cap_open/scene_000084/shared_state.npz", + "video": "cap_open/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000084/right.json", + "scene_id": "cap_open/scene_000084", + "seed": 24100909, + "shared_state": "cap_open/scene_000084/shared_state.npz", + "video": "cap_open/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000085/left.json", + "scene_id": "cap_open/scene_000085", + "seed": 24110909, + "shared_state": "cap_open/scene_000085/shared_state.npz", + "video": "cap_open/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000085/front.json", + "scene_id": "cap_open/scene_000085", + "seed": 24110909, + "shared_state": "cap_open/scene_000085/shared_state.npz", + "video": "cap_open/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000085/right.json", + "scene_id": "cap_open/scene_000085", + "seed": 24110909, + "shared_state": "cap_open/scene_000085/shared_state.npz", + "video": "cap_open/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000086/left.json", + "scene_id": "cap_open/scene_000086", + "seed": 24120909, + "shared_state": "cap_open/scene_000086/shared_state.npz", + "video": "cap_open/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000086/front.json", + "scene_id": "cap_open/scene_000086", + "seed": 24120909, + "shared_state": "cap_open/scene_000086/shared_state.npz", + "video": "cap_open/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000086/right.json", + "scene_id": "cap_open/scene_000086", + "seed": 24120909, + "shared_state": "cap_open/scene_000086/shared_state.npz", + "video": "cap_open/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000087/left.json", + "scene_id": "cap_open/scene_000087", + "seed": 24130909, + "shared_state": "cap_open/scene_000087/shared_state.npz", + "video": "cap_open/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000087/front.json", + "scene_id": "cap_open/scene_000087", + "seed": 24130909, + "shared_state": "cap_open/scene_000087/shared_state.npz", + "video": "cap_open/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000087/right.json", + "scene_id": "cap_open/scene_000087", + "seed": 24130909, + "shared_state": "cap_open/scene_000087/shared_state.npz", + "video": "cap_open/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000088/left.json", + "scene_id": "cap_open/scene_000088", + "seed": 24140909, + "shared_state": "cap_open/scene_000088/shared_state.npz", + "video": "cap_open/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000088/front.json", + "scene_id": "cap_open/scene_000088", + "seed": 24140909, + "shared_state": "cap_open/scene_000088/shared_state.npz", + "video": "cap_open/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000088/right.json", + "scene_id": "cap_open/scene_000088", + "seed": 24140909, + "shared_state": "cap_open/scene_000088/shared_state.npz", + "video": "cap_open/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000089/left.json", + "scene_id": "cap_open/scene_000089", + "seed": 24150910, + "shared_state": "cap_open/scene_000089/shared_state.npz", + "video": "cap_open/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000089/front.json", + "scene_id": "cap_open/scene_000089", + "seed": 24150910, + "shared_state": "cap_open/scene_000089/shared_state.npz", + "video": "cap_open/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000089/right.json", + "scene_id": "cap_open/scene_000089", + "seed": 24150910, + "shared_state": "cap_open/scene_000089/shared_state.npz", + "video": "cap_open/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000090/left.json", + "scene_id": "cap_open/scene_000090", + "seed": 24160909, + "shared_state": "cap_open/scene_000090/shared_state.npz", + "video": "cap_open/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000090/front.json", + "scene_id": "cap_open/scene_000090", + "seed": 24160909, + "shared_state": "cap_open/scene_000090/shared_state.npz", + "video": "cap_open/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000090/right.json", + "scene_id": "cap_open/scene_000090", + "seed": 24160909, + "shared_state": "cap_open/scene_000090/shared_state.npz", + "video": "cap_open/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000091/left.json", + "scene_id": "cap_open/scene_000091", + "seed": 24170909, + "shared_state": "cap_open/scene_000091/shared_state.npz", + "video": "cap_open/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000091/front.json", + "scene_id": "cap_open/scene_000091", + "seed": 24170909, + "shared_state": "cap_open/scene_000091/shared_state.npz", + "video": "cap_open/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000091/right.json", + "scene_id": "cap_open/scene_000091", + "seed": 24170909, + "shared_state": "cap_open/scene_000091/shared_state.npz", + "video": "cap_open/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000092/left.json", + "scene_id": "cap_open/scene_000092", + "seed": 24180912, + "shared_state": "cap_open/scene_000092/shared_state.npz", + "video": "cap_open/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000092/front.json", + "scene_id": "cap_open/scene_000092", + "seed": 24180912, + "shared_state": "cap_open/scene_000092/shared_state.npz", + "video": "cap_open/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000092/right.json", + "scene_id": "cap_open/scene_000092", + "seed": 24180912, + "shared_state": "cap_open/scene_000092/shared_state.npz", + "video": "cap_open/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000093/left.json", + "scene_id": "cap_open/scene_000093", + "seed": 24190909, + "shared_state": "cap_open/scene_000093/shared_state.npz", + "video": "cap_open/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000093/front.json", + "scene_id": "cap_open/scene_000093", + "seed": 24190909, + "shared_state": "cap_open/scene_000093/shared_state.npz", + "video": "cap_open/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000093/right.json", + "scene_id": "cap_open/scene_000093", + "seed": 24190909, + "shared_state": "cap_open/scene_000093/shared_state.npz", + "video": "cap_open/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000094/left.json", + "scene_id": "cap_open/scene_000094", + "seed": 24200909, + "shared_state": "cap_open/scene_000094/shared_state.npz", + "video": "cap_open/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000094/front.json", + "scene_id": "cap_open/scene_000094", + "seed": 24200909, + "shared_state": "cap_open/scene_000094/shared_state.npz", + "video": "cap_open/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000094/right.json", + "scene_id": "cap_open/scene_000094", + "seed": 24200909, + "shared_state": "cap_open/scene_000094/shared_state.npz", + "video": "cap_open/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000095/left.json", + "scene_id": "cap_open/scene_000095", + "seed": 24210910, + "shared_state": "cap_open/scene_000095/shared_state.npz", + "video": "cap_open/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000095/front.json", + "scene_id": "cap_open/scene_000095", + "seed": 24210910, + "shared_state": "cap_open/scene_000095/shared_state.npz", + "video": "cap_open/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000095/right.json", + "scene_id": "cap_open/scene_000095", + "seed": 24210910, + "shared_state": "cap_open/scene_000095/shared_state.npz", + "video": "cap_open/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000096/left.json", + "scene_id": "cap_open/scene_000096", + "seed": 24220909, + "shared_state": "cap_open/scene_000096/shared_state.npz", + "video": "cap_open/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000096/front.json", + "scene_id": "cap_open/scene_000096", + "seed": 24220909, + "shared_state": "cap_open/scene_000096/shared_state.npz", + "video": "cap_open/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000096/right.json", + "scene_id": "cap_open/scene_000096", + "seed": 24220909, + "shared_state": "cap_open/scene_000096/shared_state.npz", + "video": "cap_open/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000097/left.json", + "scene_id": "cap_open/scene_000097", + "seed": 24230909, + "shared_state": "cap_open/scene_000097/shared_state.npz", + "video": "cap_open/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000097/front.json", + "scene_id": "cap_open/scene_000097", + "seed": 24230909, + "shared_state": "cap_open/scene_000097/shared_state.npz", + "video": "cap_open/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000097/right.json", + "scene_id": "cap_open/scene_000097", + "seed": 24230909, + "shared_state": "cap_open/scene_000097/shared_state.npz", + "video": "cap_open/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000098/left.json", + "scene_id": "cap_open/scene_000098", + "seed": 24240909, + "shared_state": "cap_open/scene_000098/shared_state.npz", + "video": "cap_open/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000098/front.json", + "scene_id": "cap_open/scene_000098", + "seed": 24240909, + "shared_state": "cap_open/scene_000098/shared_state.npz", + "video": "cap_open/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000098/right.json", + "scene_id": "cap_open/scene_000098", + "seed": 24240909, + "shared_state": "cap_open/scene_000098/shared_state.npz", + "video": "cap_open/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000099/left.json", + "scene_id": "cap_open/scene_000099", + "seed": 24250913, + "shared_state": "cap_open/scene_000099/shared_state.npz", + "video": "cap_open/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000099/front.json", + "scene_id": "cap_open/scene_000099", + "seed": 24250913, + "shared_state": "cap_open/scene_000099/shared_state.npz", + "video": "cap_open/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": true, + "metadata": "cap_open/scene_000099/right.json", + "scene_id": "cap_open/scene_000099", + "seed": 24250913, + "shared_state": "cap_open/scene_000099/shared_state.npz", + "video": "cap_open/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000100/left.json", + "scene_id": "cap_open/scene_000100", + "seed": 131000000, + "shared_state": "cap_open/scene_000100/shared_state.npz", + "video": "cap_open/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000100/front.json", + "scene_id": "cap_open/scene_000100", + "seed": 131000000, + "shared_state": "cap_open/scene_000100/shared_state.npz", + "video": "cap_open/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000100/right.json", + "scene_id": "cap_open/scene_000100", + "seed": 131000000, + "shared_state": "cap_open/scene_000100/shared_state.npz", + "video": "cap_open/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000101/left.json", + "scene_id": "cap_open/scene_000101", + "seed": 131010000, + "shared_state": "cap_open/scene_000101/shared_state.npz", + "video": "cap_open/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000101/front.json", + "scene_id": "cap_open/scene_000101", + "seed": 131010000, + "shared_state": "cap_open/scene_000101/shared_state.npz", + "video": "cap_open/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000101/right.json", + "scene_id": "cap_open/scene_000101", + "seed": 131010000, + "shared_state": "cap_open/scene_000101/shared_state.npz", + "video": "cap_open/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000102/left.json", + "scene_id": "cap_open/scene_000102", + "seed": 131020000, + "shared_state": "cap_open/scene_000102/shared_state.npz", + "video": "cap_open/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000102/front.json", + "scene_id": "cap_open/scene_000102", + "seed": 131020000, + "shared_state": "cap_open/scene_000102/shared_state.npz", + "video": "cap_open/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000102/right.json", + "scene_id": "cap_open/scene_000102", + "seed": 131020000, + "shared_state": "cap_open/scene_000102/shared_state.npz", + "video": "cap_open/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000103/left.json", + "scene_id": "cap_open/scene_000103", + "seed": 131030000, + "shared_state": "cap_open/scene_000103/shared_state.npz", + "video": "cap_open/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000103/front.json", + "scene_id": "cap_open/scene_000103", + "seed": 131030000, + "shared_state": "cap_open/scene_000103/shared_state.npz", + "video": "cap_open/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000103/right.json", + "scene_id": "cap_open/scene_000103", + "seed": 131030000, + "shared_state": "cap_open/scene_000103/shared_state.npz", + "video": "cap_open/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000104/left.json", + "scene_id": "cap_open/scene_000104", + "seed": 131040000, + "shared_state": "cap_open/scene_000104/shared_state.npz", + "video": "cap_open/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000104/front.json", + "scene_id": "cap_open/scene_000104", + "seed": 131040000, + "shared_state": "cap_open/scene_000104/shared_state.npz", + "video": "cap_open/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000104/right.json", + "scene_id": "cap_open/scene_000104", + "seed": 131040000, + "shared_state": "cap_open/scene_000104/shared_state.npz", + "video": "cap_open/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000105/left.json", + "scene_id": "cap_open/scene_000105", + "seed": 131050000, + "shared_state": "cap_open/scene_000105/shared_state.npz", + "video": "cap_open/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000105/front.json", + "scene_id": "cap_open/scene_000105", + "seed": 131050000, + "shared_state": "cap_open/scene_000105/shared_state.npz", + "video": "cap_open/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000105/right.json", + "scene_id": "cap_open/scene_000105", + "seed": 131050000, + "shared_state": "cap_open/scene_000105/shared_state.npz", + "video": "cap_open/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000106/left.json", + "scene_id": "cap_open/scene_000106", + "seed": 131060000, + "shared_state": "cap_open/scene_000106/shared_state.npz", + "video": "cap_open/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000106/front.json", + "scene_id": "cap_open/scene_000106", + "seed": 131060000, + "shared_state": "cap_open/scene_000106/shared_state.npz", + "video": "cap_open/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000106/right.json", + "scene_id": "cap_open/scene_000106", + "seed": 131060000, + "shared_state": "cap_open/scene_000106/shared_state.npz", + "video": "cap_open/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000107/left.json", + "scene_id": "cap_open/scene_000107", + "seed": 131070000, + "shared_state": "cap_open/scene_000107/shared_state.npz", + "video": "cap_open/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000107/front.json", + "scene_id": "cap_open/scene_000107", + "seed": 131070000, + "shared_state": "cap_open/scene_000107/shared_state.npz", + "video": "cap_open/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000107/right.json", + "scene_id": "cap_open/scene_000107", + "seed": 131070000, + "shared_state": "cap_open/scene_000107/shared_state.npz", + "video": "cap_open/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000108/left.json", + "scene_id": "cap_open/scene_000108", + "seed": 131080000, + "shared_state": "cap_open/scene_000108/shared_state.npz", + "video": "cap_open/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000108/front.json", + "scene_id": "cap_open/scene_000108", + "seed": 131080000, + "shared_state": "cap_open/scene_000108/shared_state.npz", + "video": "cap_open/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000108/right.json", + "scene_id": "cap_open/scene_000108", + "seed": 131080000, + "shared_state": "cap_open/scene_000108/shared_state.npz", + "video": "cap_open/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000109/left.json", + "scene_id": "cap_open/scene_000109", + "seed": 131090000, + "shared_state": "cap_open/scene_000109/shared_state.npz", + "video": "cap_open/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000109/front.json", + "scene_id": "cap_open/scene_000109", + "seed": 131090000, + "shared_state": "cap_open/scene_000109/shared_state.npz", + "video": "cap_open/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000109/right.json", + "scene_id": "cap_open/scene_000109", + "seed": 131090000, + "shared_state": "cap_open/scene_000109/shared_state.npz", + "video": "cap_open/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000110/left.json", + "scene_id": "cap_open/scene_000110", + "seed": 131100000, + "shared_state": "cap_open/scene_000110/shared_state.npz", + "video": "cap_open/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000110/front.json", + "scene_id": "cap_open/scene_000110", + "seed": 131100000, + "shared_state": "cap_open/scene_000110/shared_state.npz", + "video": "cap_open/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000110/right.json", + "scene_id": "cap_open/scene_000110", + "seed": 131100000, + "shared_state": "cap_open/scene_000110/shared_state.npz", + "video": "cap_open/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000111/left.json", + "scene_id": "cap_open/scene_000111", + "seed": 131110000, + "shared_state": "cap_open/scene_000111/shared_state.npz", + "video": "cap_open/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000111/front.json", + "scene_id": "cap_open/scene_000111", + "seed": 131110000, + "shared_state": "cap_open/scene_000111/shared_state.npz", + "video": "cap_open/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000111/right.json", + "scene_id": "cap_open/scene_000111", + "seed": 131110000, + "shared_state": "cap_open/scene_000111/shared_state.npz", + "video": "cap_open/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000112/left.json", + "scene_id": "cap_open/scene_000112", + "seed": 131120000, + "shared_state": "cap_open/scene_000112/shared_state.npz", + "video": "cap_open/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000112/front.json", + "scene_id": "cap_open/scene_000112", + "seed": 131120000, + "shared_state": "cap_open/scene_000112/shared_state.npz", + "video": "cap_open/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000112/right.json", + "scene_id": "cap_open/scene_000112", + "seed": 131120000, + "shared_state": "cap_open/scene_000112/shared_state.npz", + "video": "cap_open/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000113/left.json", + "scene_id": "cap_open/scene_000113", + "seed": 131130000, + "shared_state": "cap_open/scene_000113/shared_state.npz", + "video": "cap_open/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000113/front.json", + "scene_id": "cap_open/scene_000113", + "seed": 131130000, + "shared_state": "cap_open/scene_000113/shared_state.npz", + "video": "cap_open/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000113/right.json", + "scene_id": "cap_open/scene_000113", + "seed": 131130000, + "shared_state": "cap_open/scene_000113/shared_state.npz", + "video": "cap_open/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000114/left.json", + "scene_id": "cap_open/scene_000114", + "seed": 131140000, + "shared_state": "cap_open/scene_000114/shared_state.npz", + "video": "cap_open/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000114/front.json", + "scene_id": "cap_open/scene_000114", + "seed": 131140000, + "shared_state": "cap_open/scene_000114/shared_state.npz", + "video": "cap_open/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000114/right.json", + "scene_id": "cap_open/scene_000114", + "seed": 131140000, + "shared_state": "cap_open/scene_000114/shared_state.npz", + "video": "cap_open/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000115/left.json", + "scene_id": "cap_open/scene_000115", + "seed": 131150000, + "shared_state": "cap_open/scene_000115/shared_state.npz", + "video": "cap_open/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000115/front.json", + "scene_id": "cap_open/scene_000115", + "seed": 131150000, + "shared_state": "cap_open/scene_000115/shared_state.npz", + "video": "cap_open/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000115/right.json", + "scene_id": "cap_open/scene_000115", + "seed": 131150000, + "shared_state": "cap_open/scene_000115/shared_state.npz", + "video": "cap_open/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000116/left.json", + "scene_id": "cap_open/scene_000116", + "seed": 131160000, + "shared_state": "cap_open/scene_000116/shared_state.npz", + "video": "cap_open/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000116/front.json", + "scene_id": "cap_open/scene_000116", + "seed": 131160000, + "shared_state": "cap_open/scene_000116/shared_state.npz", + "video": "cap_open/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000116/right.json", + "scene_id": "cap_open/scene_000116", + "seed": 131160000, + "shared_state": "cap_open/scene_000116/shared_state.npz", + "video": "cap_open/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000117/left.json", + "scene_id": "cap_open/scene_000117", + "seed": 131170000, + "shared_state": "cap_open/scene_000117/shared_state.npz", + "video": "cap_open/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000117/front.json", + "scene_id": "cap_open/scene_000117", + "seed": 131170000, + "shared_state": "cap_open/scene_000117/shared_state.npz", + "video": "cap_open/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000117/right.json", + "scene_id": "cap_open/scene_000117", + "seed": 131170000, + "shared_state": "cap_open/scene_000117/shared_state.npz", + "video": "cap_open/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000118/left.json", + "scene_id": "cap_open/scene_000118", + "seed": 131180000, + "shared_state": "cap_open/scene_000118/shared_state.npz", + "video": "cap_open/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000118/front.json", + "scene_id": "cap_open/scene_000118", + "seed": 131180000, + "shared_state": "cap_open/scene_000118/shared_state.npz", + "video": "cap_open/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000118/right.json", + "scene_id": "cap_open/scene_000118", + "seed": 131180000, + "shared_state": "cap_open/scene_000118/shared_state.npz", + "video": "cap_open/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000119/left.json", + "scene_id": "cap_open/scene_000119", + "seed": 131190000, + "shared_state": "cap_open/scene_000119/shared_state.npz", + "video": "cap_open/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000119/front.json", + "scene_id": "cap_open/scene_000119", + "seed": 131190000, + "shared_state": "cap_open/scene_000119/shared_state.npz", + "video": "cap_open/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000119/right.json", + "scene_id": "cap_open/scene_000119", + "seed": 131190000, + "shared_state": "cap_open/scene_000119/shared_state.npz", + "video": "cap_open/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000120/left.json", + "scene_id": "cap_open/scene_000120", + "seed": 131200001, + "shared_state": "cap_open/scene_000120/shared_state.npz", + "video": "cap_open/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000120/front.json", + "scene_id": "cap_open/scene_000120", + "seed": 131200001, + "shared_state": "cap_open/scene_000120/shared_state.npz", + "video": "cap_open/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000120/right.json", + "scene_id": "cap_open/scene_000120", + "seed": 131200001, + "shared_state": "cap_open/scene_000120/shared_state.npz", + "video": "cap_open/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000121/left.json", + "scene_id": "cap_open/scene_000121", + "seed": 131210000, + "shared_state": "cap_open/scene_000121/shared_state.npz", + "video": "cap_open/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000121/front.json", + "scene_id": "cap_open/scene_000121", + "seed": 131210000, + "shared_state": "cap_open/scene_000121/shared_state.npz", + "video": "cap_open/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000121/right.json", + "scene_id": "cap_open/scene_000121", + "seed": 131210000, + "shared_state": "cap_open/scene_000121/shared_state.npz", + "video": "cap_open/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000122/left.json", + "scene_id": "cap_open/scene_000122", + "seed": 131220000, + "shared_state": "cap_open/scene_000122/shared_state.npz", + "video": "cap_open/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000122/front.json", + "scene_id": "cap_open/scene_000122", + "seed": 131220000, + "shared_state": "cap_open/scene_000122/shared_state.npz", + "video": "cap_open/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000122/right.json", + "scene_id": "cap_open/scene_000122", + "seed": 131220000, + "shared_state": "cap_open/scene_000122/shared_state.npz", + "video": "cap_open/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000123/left.json", + "scene_id": "cap_open/scene_000123", + "seed": 131230000, + "shared_state": "cap_open/scene_000123/shared_state.npz", + "video": "cap_open/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000123/front.json", + "scene_id": "cap_open/scene_000123", + "seed": 131230000, + "shared_state": "cap_open/scene_000123/shared_state.npz", + "video": "cap_open/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000123/right.json", + "scene_id": "cap_open/scene_000123", + "seed": 131230000, + "shared_state": "cap_open/scene_000123/shared_state.npz", + "video": "cap_open/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000124/left.json", + "scene_id": "cap_open/scene_000124", + "seed": 131240000, + "shared_state": "cap_open/scene_000124/shared_state.npz", + "video": "cap_open/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000124/front.json", + "scene_id": "cap_open/scene_000124", + "seed": 131240000, + "shared_state": "cap_open/scene_000124/shared_state.npz", + "video": "cap_open/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000124/right.json", + "scene_id": "cap_open/scene_000124", + "seed": 131240000, + "shared_state": "cap_open/scene_000124/shared_state.npz", + "video": "cap_open/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000125/left.json", + "scene_id": "cap_open/scene_000125", + "seed": 131250000, + "shared_state": "cap_open/scene_000125/shared_state.npz", + "video": "cap_open/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000125/front.json", + "scene_id": "cap_open/scene_000125", + "seed": 131250000, + "shared_state": "cap_open/scene_000125/shared_state.npz", + "video": "cap_open/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000125/right.json", + "scene_id": "cap_open/scene_000125", + "seed": 131250000, + "shared_state": "cap_open/scene_000125/shared_state.npz", + "video": "cap_open/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000126/left.json", + "scene_id": "cap_open/scene_000126", + "seed": 131260000, + "shared_state": "cap_open/scene_000126/shared_state.npz", + "video": "cap_open/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000126/front.json", + "scene_id": "cap_open/scene_000126", + "seed": 131260000, + "shared_state": "cap_open/scene_000126/shared_state.npz", + "video": "cap_open/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000126/right.json", + "scene_id": "cap_open/scene_000126", + "seed": 131260000, + "shared_state": "cap_open/scene_000126/shared_state.npz", + "video": "cap_open/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000127/left.json", + "scene_id": "cap_open/scene_000127", + "seed": 131270000, + "shared_state": "cap_open/scene_000127/shared_state.npz", + "video": "cap_open/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000127/front.json", + "scene_id": "cap_open/scene_000127", + "seed": 131270000, + "shared_state": "cap_open/scene_000127/shared_state.npz", + "video": "cap_open/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000127/right.json", + "scene_id": "cap_open/scene_000127", + "seed": 131270000, + "shared_state": "cap_open/scene_000127/shared_state.npz", + "video": "cap_open/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000128/left.json", + "scene_id": "cap_open/scene_000128", + "seed": 131280000, + "shared_state": "cap_open/scene_000128/shared_state.npz", + "video": "cap_open/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000128/front.json", + "scene_id": "cap_open/scene_000128", + "seed": 131280000, + "shared_state": "cap_open/scene_000128/shared_state.npz", + "video": "cap_open/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000128/right.json", + "scene_id": "cap_open/scene_000128", + "seed": 131280000, + "shared_state": "cap_open/scene_000128/shared_state.npz", + "video": "cap_open/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000129/left.json", + "scene_id": "cap_open/scene_000129", + "seed": 131290000, + "shared_state": "cap_open/scene_000129/shared_state.npz", + "video": "cap_open/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000129/front.json", + "scene_id": "cap_open/scene_000129", + "seed": 131290000, + "shared_state": "cap_open/scene_000129/shared_state.npz", + "video": "cap_open/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000129/right.json", + "scene_id": "cap_open/scene_000129", + "seed": 131290000, + "shared_state": "cap_open/scene_000129/shared_state.npz", + "video": "cap_open/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000130/left.json", + "scene_id": "cap_open/scene_000130", + "seed": 131300000, + "shared_state": "cap_open/scene_000130/shared_state.npz", + "video": "cap_open/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000130/front.json", + "scene_id": "cap_open/scene_000130", + "seed": 131300000, + "shared_state": "cap_open/scene_000130/shared_state.npz", + "video": "cap_open/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000130/right.json", + "scene_id": "cap_open/scene_000130", + "seed": 131300000, + "shared_state": "cap_open/scene_000130/shared_state.npz", + "video": "cap_open/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000131/left.json", + "scene_id": "cap_open/scene_000131", + "seed": 131310000, + "shared_state": "cap_open/scene_000131/shared_state.npz", + "video": "cap_open/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000131/front.json", + "scene_id": "cap_open/scene_000131", + "seed": 131310000, + "shared_state": "cap_open/scene_000131/shared_state.npz", + "video": "cap_open/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000131/right.json", + "scene_id": "cap_open/scene_000131", + "seed": 131310000, + "shared_state": "cap_open/scene_000131/shared_state.npz", + "video": "cap_open/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000132/left.json", + "scene_id": "cap_open/scene_000132", + "seed": 131320000, + "shared_state": "cap_open/scene_000132/shared_state.npz", + "video": "cap_open/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000132/front.json", + "scene_id": "cap_open/scene_000132", + "seed": 131320000, + "shared_state": "cap_open/scene_000132/shared_state.npz", + "video": "cap_open/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000132/right.json", + "scene_id": "cap_open/scene_000132", + "seed": 131320000, + "shared_state": "cap_open/scene_000132/shared_state.npz", + "video": "cap_open/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000133/left.json", + "scene_id": "cap_open/scene_000133", + "seed": 131330000, + "shared_state": "cap_open/scene_000133/shared_state.npz", + "video": "cap_open/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000133/front.json", + "scene_id": "cap_open/scene_000133", + "seed": 131330000, + "shared_state": "cap_open/scene_000133/shared_state.npz", + "video": "cap_open/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000133/right.json", + "scene_id": "cap_open/scene_000133", + "seed": 131330000, + "shared_state": "cap_open/scene_000133/shared_state.npz", + "video": "cap_open/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000134/left.json", + "scene_id": "cap_open/scene_000134", + "seed": 131340000, + "shared_state": "cap_open/scene_000134/shared_state.npz", + "video": "cap_open/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000134/front.json", + "scene_id": "cap_open/scene_000134", + "seed": 131340000, + "shared_state": "cap_open/scene_000134/shared_state.npz", + "video": "cap_open/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000134/right.json", + "scene_id": "cap_open/scene_000134", + "seed": 131340000, + "shared_state": "cap_open/scene_000134/shared_state.npz", + "video": "cap_open/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000135/left.json", + "scene_id": "cap_open/scene_000135", + "seed": 131350000, + "shared_state": "cap_open/scene_000135/shared_state.npz", + "video": "cap_open/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000135/front.json", + "scene_id": "cap_open/scene_000135", + "seed": 131350000, + "shared_state": "cap_open/scene_000135/shared_state.npz", + "video": "cap_open/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000135/right.json", + "scene_id": "cap_open/scene_000135", + "seed": 131350000, + "shared_state": "cap_open/scene_000135/shared_state.npz", + "video": "cap_open/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000136/left.json", + "scene_id": "cap_open/scene_000136", + "seed": 131360000, + "shared_state": "cap_open/scene_000136/shared_state.npz", + "video": "cap_open/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000136/front.json", + "scene_id": "cap_open/scene_000136", + "seed": 131360000, + "shared_state": "cap_open/scene_000136/shared_state.npz", + "video": "cap_open/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000136/right.json", + "scene_id": "cap_open/scene_000136", + "seed": 131360000, + "shared_state": "cap_open/scene_000136/shared_state.npz", + "video": "cap_open/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000137/left.json", + "scene_id": "cap_open/scene_000137", + "seed": 131370000, + "shared_state": "cap_open/scene_000137/shared_state.npz", + "video": "cap_open/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000137/front.json", + "scene_id": "cap_open/scene_000137", + "seed": 131370000, + "shared_state": "cap_open/scene_000137/shared_state.npz", + "video": "cap_open/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000137/right.json", + "scene_id": "cap_open/scene_000137", + "seed": 131370000, + "shared_state": "cap_open/scene_000137/shared_state.npz", + "video": "cap_open/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000138/left.json", + "scene_id": "cap_open/scene_000138", + "seed": 131380000, + "shared_state": "cap_open/scene_000138/shared_state.npz", + "video": "cap_open/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000138/front.json", + "scene_id": "cap_open/scene_000138", + "seed": 131380000, + "shared_state": "cap_open/scene_000138/shared_state.npz", + "video": "cap_open/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000138/right.json", + "scene_id": "cap_open/scene_000138", + "seed": 131380000, + "shared_state": "cap_open/scene_000138/shared_state.npz", + "video": "cap_open/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000139/left.json", + "scene_id": "cap_open/scene_000139", + "seed": 131390000, + "shared_state": "cap_open/scene_000139/shared_state.npz", + "video": "cap_open/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000139/front.json", + "scene_id": "cap_open/scene_000139", + "seed": 131390000, + "shared_state": "cap_open/scene_000139/shared_state.npz", + "video": "cap_open/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000139/right.json", + "scene_id": "cap_open/scene_000139", + "seed": 131390000, + "shared_state": "cap_open/scene_000139/shared_state.npz", + "video": "cap_open/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000140/left.json", + "scene_id": "cap_open/scene_000140", + "seed": 131400000, + "shared_state": "cap_open/scene_000140/shared_state.npz", + "video": "cap_open/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000140/front.json", + "scene_id": "cap_open/scene_000140", + "seed": 131400000, + "shared_state": "cap_open/scene_000140/shared_state.npz", + "video": "cap_open/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000140/right.json", + "scene_id": "cap_open/scene_000140", + "seed": 131400000, + "shared_state": "cap_open/scene_000140/shared_state.npz", + "video": "cap_open/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000141/left.json", + "scene_id": "cap_open/scene_000141", + "seed": 131410000, + "shared_state": "cap_open/scene_000141/shared_state.npz", + "video": "cap_open/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000141/front.json", + "scene_id": "cap_open/scene_000141", + "seed": 131410000, + "shared_state": "cap_open/scene_000141/shared_state.npz", + "video": "cap_open/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000141/right.json", + "scene_id": "cap_open/scene_000141", + "seed": 131410000, + "shared_state": "cap_open/scene_000141/shared_state.npz", + "video": "cap_open/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000142/left.json", + "scene_id": "cap_open/scene_000142", + "seed": 131420000, + "shared_state": "cap_open/scene_000142/shared_state.npz", + "video": "cap_open/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000142/front.json", + "scene_id": "cap_open/scene_000142", + "seed": 131420000, + "shared_state": "cap_open/scene_000142/shared_state.npz", + "video": "cap_open/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000142/right.json", + "scene_id": "cap_open/scene_000142", + "seed": 131420000, + "shared_state": "cap_open/scene_000142/shared_state.npz", + "video": "cap_open/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000143/left.json", + "scene_id": "cap_open/scene_000143", + "seed": 131430000, + "shared_state": "cap_open/scene_000143/shared_state.npz", + "video": "cap_open/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000143/front.json", + "scene_id": "cap_open/scene_000143", + "seed": 131430000, + "shared_state": "cap_open/scene_000143/shared_state.npz", + "video": "cap_open/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000143/right.json", + "scene_id": "cap_open/scene_000143", + "seed": 131430000, + "shared_state": "cap_open/scene_000143/shared_state.npz", + "video": "cap_open/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000144/left.json", + "scene_id": "cap_open/scene_000144", + "seed": 131440000, + "shared_state": "cap_open/scene_000144/shared_state.npz", + "video": "cap_open/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000144/front.json", + "scene_id": "cap_open/scene_000144", + "seed": 131440000, + "shared_state": "cap_open/scene_000144/shared_state.npz", + "video": "cap_open/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000144/right.json", + "scene_id": "cap_open/scene_000144", + "seed": 131440000, + "shared_state": "cap_open/scene_000144/shared_state.npz", + "video": "cap_open/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000145/left.json", + "scene_id": "cap_open/scene_000145", + "seed": 131450000, + "shared_state": "cap_open/scene_000145/shared_state.npz", + "video": "cap_open/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000145/front.json", + "scene_id": "cap_open/scene_000145", + "seed": 131450000, + "shared_state": "cap_open/scene_000145/shared_state.npz", + "video": "cap_open/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000145/right.json", + "scene_id": "cap_open/scene_000145", + "seed": 131450000, + "shared_state": "cap_open/scene_000145/shared_state.npz", + "video": "cap_open/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000146/left.json", + "scene_id": "cap_open/scene_000146", + "seed": 131460000, + "shared_state": "cap_open/scene_000146/shared_state.npz", + "video": "cap_open/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000146/front.json", + "scene_id": "cap_open/scene_000146", + "seed": 131460000, + "shared_state": "cap_open/scene_000146/shared_state.npz", + "video": "cap_open/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000146/right.json", + "scene_id": "cap_open/scene_000146", + "seed": 131460000, + "shared_state": "cap_open/scene_000146/shared_state.npz", + "video": "cap_open/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000147/left.json", + "scene_id": "cap_open/scene_000147", + "seed": 131470000, + "shared_state": "cap_open/scene_000147/shared_state.npz", + "video": "cap_open/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000147/front.json", + "scene_id": "cap_open/scene_000147", + "seed": 131470000, + "shared_state": "cap_open/scene_000147/shared_state.npz", + "video": "cap_open/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000147/right.json", + "scene_id": "cap_open/scene_000147", + "seed": 131470000, + "shared_state": "cap_open/scene_000147/shared_state.npz", + "video": "cap_open/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000148/left.json", + "scene_id": "cap_open/scene_000148", + "seed": 131480000, + "shared_state": "cap_open/scene_000148/shared_state.npz", + "video": "cap_open/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000148/front.json", + "scene_id": "cap_open/scene_000148", + "seed": 131480000, + "shared_state": "cap_open/scene_000148/shared_state.npz", + "video": "cap_open/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000148/right.json", + "scene_id": "cap_open/scene_000148", + "seed": 131480000, + "shared_state": "cap_open/scene_000148/shared_state.npz", + "video": "cap_open/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000149/left.json", + "scene_id": "cap_open/scene_000149", + "seed": 131490000, + "shared_state": "cap_open/scene_000149/shared_state.npz", + "video": "cap_open/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000149/front.json", + "scene_id": "cap_open/scene_000149", + "seed": 131490000, + "shared_state": "cap_open/scene_000149/shared_state.npz", + "video": "cap_open/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000149/right.json", + "scene_id": "cap_open/scene_000149", + "seed": 131490000, + "shared_state": "cap_open/scene_000149/shared_state.npz", + "video": "cap_open/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000150/left.json", + "scene_id": "cap_open/scene_000150", + "seed": 131500000, + "shared_state": "cap_open/scene_000150/shared_state.npz", + "video": "cap_open/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000150/front.json", + "scene_id": "cap_open/scene_000150", + "seed": 131500000, + "shared_state": "cap_open/scene_000150/shared_state.npz", + "video": "cap_open/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000150/right.json", + "scene_id": "cap_open/scene_000150", + "seed": 131500000, + "shared_state": "cap_open/scene_000150/shared_state.npz", + "video": "cap_open/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000151/left.json", + "scene_id": "cap_open/scene_000151", + "seed": 131510000, + "shared_state": "cap_open/scene_000151/shared_state.npz", + "video": "cap_open/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000151/front.json", + "scene_id": "cap_open/scene_000151", + "seed": 131510000, + "shared_state": "cap_open/scene_000151/shared_state.npz", + "video": "cap_open/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000151/right.json", + "scene_id": "cap_open/scene_000151", + "seed": 131510000, + "shared_state": "cap_open/scene_000151/shared_state.npz", + "video": "cap_open/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000152/left.json", + "scene_id": "cap_open/scene_000152", + "seed": 131520000, + "shared_state": "cap_open/scene_000152/shared_state.npz", + "video": "cap_open/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000152/front.json", + "scene_id": "cap_open/scene_000152", + "seed": 131520000, + "shared_state": "cap_open/scene_000152/shared_state.npz", + "video": "cap_open/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000152/right.json", + "scene_id": "cap_open/scene_000152", + "seed": 131520000, + "shared_state": "cap_open/scene_000152/shared_state.npz", + "video": "cap_open/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000153/left.json", + "scene_id": "cap_open/scene_000153", + "seed": 131530000, + "shared_state": "cap_open/scene_000153/shared_state.npz", + "video": "cap_open/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000153/front.json", + "scene_id": "cap_open/scene_000153", + "seed": 131530000, + "shared_state": "cap_open/scene_000153/shared_state.npz", + "video": "cap_open/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000153/right.json", + "scene_id": "cap_open/scene_000153", + "seed": 131530000, + "shared_state": "cap_open/scene_000153/shared_state.npz", + "video": "cap_open/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000154/left.json", + "scene_id": "cap_open/scene_000154", + "seed": 131540000, + "shared_state": "cap_open/scene_000154/shared_state.npz", + "video": "cap_open/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000154/front.json", + "scene_id": "cap_open/scene_000154", + "seed": 131540000, + "shared_state": "cap_open/scene_000154/shared_state.npz", + "video": "cap_open/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000154/right.json", + "scene_id": "cap_open/scene_000154", + "seed": 131540000, + "shared_state": "cap_open/scene_000154/shared_state.npz", + "video": "cap_open/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000155/left.json", + "scene_id": "cap_open/scene_000155", + "seed": 131550000, + "shared_state": "cap_open/scene_000155/shared_state.npz", + "video": "cap_open/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000155/front.json", + "scene_id": "cap_open/scene_000155", + "seed": 131550000, + "shared_state": "cap_open/scene_000155/shared_state.npz", + "video": "cap_open/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000155/right.json", + "scene_id": "cap_open/scene_000155", + "seed": 131550000, + "shared_state": "cap_open/scene_000155/shared_state.npz", + "video": "cap_open/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000156/left.json", + "scene_id": "cap_open/scene_000156", + "seed": 131560000, + "shared_state": "cap_open/scene_000156/shared_state.npz", + "video": "cap_open/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000156/front.json", + "scene_id": "cap_open/scene_000156", + "seed": 131560000, + "shared_state": "cap_open/scene_000156/shared_state.npz", + "video": "cap_open/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000156/right.json", + "scene_id": "cap_open/scene_000156", + "seed": 131560000, + "shared_state": "cap_open/scene_000156/shared_state.npz", + "video": "cap_open/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000157/left.json", + "scene_id": "cap_open/scene_000157", + "seed": 131570000, + "shared_state": "cap_open/scene_000157/shared_state.npz", + "video": "cap_open/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000157/front.json", + "scene_id": "cap_open/scene_000157", + "seed": 131570000, + "shared_state": "cap_open/scene_000157/shared_state.npz", + "video": "cap_open/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000157/right.json", + "scene_id": "cap_open/scene_000157", + "seed": 131570000, + "shared_state": "cap_open/scene_000157/shared_state.npz", + "video": "cap_open/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000158/left.json", + "scene_id": "cap_open/scene_000158", + "seed": 131580000, + "shared_state": "cap_open/scene_000158/shared_state.npz", + "video": "cap_open/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000158/front.json", + "scene_id": "cap_open/scene_000158", + "seed": 131580000, + "shared_state": "cap_open/scene_000158/shared_state.npz", + "video": "cap_open/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000158/right.json", + "scene_id": "cap_open/scene_000158", + "seed": 131580000, + "shared_state": "cap_open/scene_000158/shared_state.npz", + "video": "cap_open/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000159/left.json", + "scene_id": "cap_open/scene_000159", + "seed": 131590000, + "shared_state": "cap_open/scene_000159/shared_state.npz", + "video": "cap_open/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000159/front.json", + "scene_id": "cap_open/scene_000159", + "seed": 131590000, + "shared_state": "cap_open/scene_000159/shared_state.npz", + "video": "cap_open/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000159/right.json", + "scene_id": "cap_open/scene_000159", + "seed": 131590000, + "shared_state": "cap_open/scene_000159/shared_state.npz", + "video": "cap_open/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000160/left.json", + "scene_id": "cap_open/scene_000160", + "seed": 131600000, + "shared_state": "cap_open/scene_000160/shared_state.npz", + "video": "cap_open/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000160/front.json", + "scene_id": "cap_open/scene_000160", + "seed": 131600000, + "shared_state": "cap_open/scene_000160/shared_state.npz", + "video": "cap_open/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000160/right.json", + "scene_id": "cap_open/scene_000160", + "seed": 131600000, + "shared_state": "cap_open/scene_000160/shared_state.npz", + "video": "cap_open/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000161/left.json", + "scene_id": "cap_open/scene_000161", + "seed": 131610000, + "shared_state": "cap_open/scene_000161/shared_state.npz", + "video": "cap_open/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000161/front.json", + "scene_id": "cap_open/scene_000161", + "seed": 131610000, + "shared_state": "cap_open/scene_000161/shared_state.npz", + "video": "cap_open/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000161/right.json", + "scene_id": "cap_open/scene_000161", + "seed": 131610000, + "shared_state": "cap_open/scene_000161/shared_state.npz", + "video": "cap_open/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000162/left.json", + "scene_id": "cap_open/scene_000162", + "seed": 131620000, + "shared_state": "cap_open/scene_000162/shared_state.npz", + "video": "cap_open/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000162/front.json", + "scene_id": "cap_open/scene_000162", + "seed": 131620000, + "shared_state": "cap_open/scene_000162/shared_state.npz", + "video": "cap_open/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000162/right.json", + "scene_id": "cap_open/scene_000162", + "seed": 131620000, + "shared_state": "cap_open/scene_000162/shared_state.npz", + "video": "cap_open/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000163/left.json", + "scene_id": "cap_open/scene_000163", + "seed": 131630000, + "shared_state": "cap_open/scene_000163/shared_state.npz", + "video": "cap_open/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000163/front.json", + "scene_id": "cap_open/scene_000163", + "seed": 131630000, + "shared_state": "cap_open/scene_000163/shared_state.npz", + "video": "cap_open/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000163/right.json", + "scene_id": "cap_open/scene_000163", + "seed": 131630000, + "shared_state": "cap_open/scene_000163/shared_state.npz", + "video": "cap_open/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000164/left.json", + "scene_id": "cap_open/scene_000164", + "seed": 131640000, + "shared_state": "cap_open/scene_000164/shared_state.npz", + "video": "cap_open/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000164/front.json", + "scene_id": "cap_open/scene_000164", + "seed": 131640000, + "shared_state": "cap_open/scene_000164/shared_state.npz", + "video": "cap_open/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000164/right.json", + "scene_id": "cap_open/scene_000164", + "seed": 131640000, + "shared_state": "cap_open/scene_000164/shared_state.npz", + "video": "cap_open/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000165/left.json", + "scene_id": "cap_open/scene_000165", + "seed": 131650000, + "shared_state": "cap_open/scene_000165/shared_state.npz", + "video": "cap_open/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000165/front.json", + "scene_id": "cap_open/scene_000165", + "seed": 131650000, + "shared_state": "cap_open/scene_000165/shared_state.npz", + "video": "cap_open/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000165/right.json", + "scene_id": "cap_open/scene_000165", + "seed": 131650000, + "shared_state": "cap_open/scene_000165/shared_state.npz", + "video": "cap_open/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000166/left.json", + "scene_id": "cap_open/scene_000166", + "seed": 131660000, + "shared_state": "cap_open/scene_000166/shared_state.npz", + "video": "cap_open/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000166/front.json", + "scene_id": "cap_open/scene_000166", + "seed": 131660000, + "shared_state": "cap_open/scene_000166/shared_state.npz", + "video": "cap_open/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000166/right.json", + "scene_id": "cap_open/scene_000166", + "seed": 131660000, + "shared_state": "cap_open/scene_000166/shared_state.npz", + "video": "cap_open/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000167/left.json", + "scene_id": "cap_open/scene_000167", + "seed": 131670000, + "shared_state": "cap_open/scene_000167/shared_state.npz", + "video": "cap_open/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000167/front.json", + "scene_id": "cap_open/scene_000167", + "seed": 131670000, + "shared_state": "cap_open/scene_000167/shared_state.npz", + "video": "cap_open/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000167/right.json", + "scene_id": "cap_open/scene_000167", + "seed": 131670000, + "shared_state": "cap_open/scene_000167/shared_state.npz", + "video": "cap_open/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000168/left.json", + "scene_id": "cap_open/scene_000168", + "seed": 131680000, + "shared_state": "cap_open/scene_000168/shared_state.npz", + "video": "cap_open/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000168/front.json", + "scene_id": "cap_open/scene_000168", + "seed": 131680000, + "shared_state": "cap_open/scene_000168/shared_state.npz", + "video": "cap_open/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000168/right.json", + "scene_id": "cap_open/scene_000168", + "seed": 131680000, + "shared_state": "cap_open/scene_000168/shared_state.npz", + "video": "cap_open/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000169/left.json", + "scene_id": "cap_open/scene_000169", + "seed": 131690000, + "shared_state": "cap_open/scene_000169/shared_state.npz", + "video": "cap_open/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000169/front.json", + "scene_id": "cap_open/scene_000169", + "seed": 131690000, + "shared_state": "cap_open/scene_000169/shared_state.npz", + "video": "cap_open/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000169/right.json", + "scene_id": "cap_open/scene_000169", + "seed": 131690000, + "shared_state": "cap_open/scene_000169/shared_state.npz", + "video": "cap_open/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000170/left.json", + "scene_id": "cap_open/scene_000170", + "seed": 131700000, + "shared_state": "cap_open/scene_000170/shared_state.npz", + "video": "cap_open/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000170/front.json", + "scene_id": "cap_open/scene_000170", + "seed": 131700000, + "shared_state": "cap_open/scene_000170/shared_state.npz", + "video": "cap_open/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000170/right.json", + "scene_id": "cap_open/scene_000170", + "seed": 131700000, + "shared_state": "cap_open/scene_000170/shared_state.npz", + "video": "cap_open/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000171/left.json", + "scene_id": "cap_open/scene_000171", + "seed": 131710000, + "shared_state": "cap_open/scene_000171/shared_state.npz", + "video": "cap_open/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000171/front.json", + "scene_id": "cap_open/scene_000171", + "seed": 131710000, + "shared_state": "cap_open/scene_000171/shared_state.npz", + "video": "cap_open/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000171/right.json", + "scene_id": "cap_open/scene_000171", + "seed": 131710000, + "shared_state": "cap_open/scene_000171/shared_state.npz", + "video": "cap_open/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000172/left.json", + "scene_id": "cap_open/scene_000172", + "seed": 131720000, + "shared_state": "cap_open/scene_000172/shared_state.npz", + "video": "cap_open/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000172/front.json", + "scene_id": "cap_open/scene_000172", + "seed": 131720000, + "shared_state": "cap_open/scene_000172/shared_state.npz", + "video": "cap_open/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000172/right.json", + "scene_id": "cap_open/scene_000172", + "seed": 131720000, + "shared_state": "cap_open/scene_000172/shared_state.npz", + "video": "cap_open/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000173/left.json", + "scene_id": "cap_open/scene_000173", + "seed": 131730000, + "shared_state": "cap_open/scene_000173/shared_state.npz", + "video": "cap_open/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000173/front.json", + "scene_id": "cap_open/scene_000173", + "seed": 131730000, + "shared_state": "cap_open/scene_000173/shared_state.npz", + "video": "cap_open/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000173/right.json", + "scene_id": "cap_open/scene_000173", + "seed": 131730000, + "shared_state": "cap_open/scene_000173/shared_state.npz", + "video": "cap_open/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000174/left.json", + "scene_id": "cap_open/scene_000174", + "seed": 131740000, + "shared_state": "cap_open/scene_000174/shared_state.npz", + "video": "cap_open/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000174/front.json", + "scene_id": "cap_open/scene_000174", + "seed": 131740000, + "shared_state": "cap_open/scene_000174/shared_state.npz", + "video": "cap_open/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000174/right.json", + "scene_id": "cap_open/scene_000174", + "seed": 131740000, + "shared_state": "cap_open/scene_000174/shared_state.npz", + "video": "cap_open/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000175/left.json", + "scene_id": "cap_open/scene_000175", + "seed": 131750000, + "shared_state": "cap_open/scene_000175/shared_state.npz", + "video": "cap_open/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000175/front.json", + "scene_id": "cap_open/scene_000175", + "seed": 131750000, + "shared_state": "cap_open/scene_000175/shared_state.npz", + "video": "cap_open/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000175/right.json", + "scene_id": "cap_open/scene_000175", + "seed": 131750000, + "shared_state": "cap_open/scene_000175/shared_state.npz", + "video": "cap_open/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000176/left.json", + "scene_id": "cap_open/scene_000176", + "seed": 131760000, + "shared_state": "cap_open/scene_000176/shared_state.npz", + "video": "cap_open/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000176/front.json", + "scene_id": "cap_open/scene_000176", + "seed": 131760000, + "shared_state": "cap_open/scene_000176/shared_state.npz", + "video": "cap_open/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000176/right.json", + "scene_id": "cap_open/scene_000176", + "seed": 131760000, + "shared_state": "cap_open/scene_000176/shared_state.npz", + "video": "cap_open/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000177/left.json", + "scene_id": "cap_open/scene_000177", + "seed": 131770000, + "shared_state": "cap_open/scene_000177/shared_state.npz", + "video": "cap_open/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000177/front.json", + "scene_id": "cap_open/scene_000177", + "seed": 131770000, + "shared_state": "cap_open/scene_000177/shared_state.npz", + "video": "cap_open/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000177/right.json", + "scene_id": "cap_open/scene_000177", + "seed": 131770000, + "shared_state": "cap_open/scene_000177/shared_state.npz", + "video": "cap_open/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000178/left.json", + "scene_id": "cap_open/scene_000178", + "seed": 131780000, + "shared_state": "cap_open/scene_000178/shared_state.npz", + "video": "cap_open/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000178/front.json", + "scene_id": "cap_open/scene_000178", + "seed": 131780000, + "shared_state": "cap_open/scene_000178/shared_state.npz", + "video": "cap_open/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000178/right.json", + "scene_id": "cap_open/scene_000178", + "seed": 131780000, + "shared_state": "cap_open/scene_000178/shared_state.npz", + "video": "cap_open/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000179/left.json", + "scene_id": "cap_open/scene_000179", + "seed": 131790000, + "shared_state": "cap_open/scene_000179/shared_state.npz", + "video": "cap_open/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000179/front.json", + "scene_id": "cap_open/scene_000179", + "seed": 131790000, + "shared_state": "cap_open/scene_000179/shared_state.npz", + "video": "cap_open/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000179/right.json", + "scene_id": "cap_open/scene_000179", + "seed": 131790000, + "shared_state": "cap_open/scene_000179/shared_state.npz", + "video": "cap_open/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000180/left.json", + "scene_id": "cap_open/scene_000180", + "seed": 131800000, + "shared_state": "cap_open/scene_000180/shared_state.npz", + "video": "cap_open/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000180/front.json", + "scene_id": "cap_open/scene_000180", + "seed": 131800000, + "shared_state": "cap_open/scene_000180/shared_state.npz", + "video": "cap_open/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000180/right.json", + "scene_id": "cap_open/scene_000180", + "seed": 131800000, + "shared_state": "cap_open/scene_000180/shared_state.npz", + "video": "cap_open/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000181/left.json", + "scene_id": "cap_open/scene_000181", + "seed": 131810000, + "shared_state": "cap_open/scene_000181/shared_state.npz", + "video": "cap_open/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000181/front.json", + "scene_id": "cap_open/scene_000181", + "seed": 131810000, + "shared_state": "cap_open/scene_000181/shared_state.npz", + "video": "cap_open/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000181/right.json", + "scene_id": "cap_open/scene_000181", + "seed": 131810000, + "shared_state": "cap_open/scene_000181/shared_state.npz", + "video": "cap_open/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000182/left.json", + "scene_id": "cap_open/scene_000182", + "seed": 131820000, + "shared_state": "cap_open/scene_000182/shared_state.npz", + "video": "cap_open/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000182/front.json", + "scene_id": "cap_open/scene_000182", + "seed": 131820000, + "shared_state": "cap_open/scene_000182/shared_state.npz", + "video": "cap_open/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000182/right.json", + "scene_id": "cap_open/scene_000182", + "seed": 131820000, + "shared_state": "cap_open/scene_000182/shared_state.npz", + "video": "cap_open/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000183/left.json", + "scene_id": "cap_open/scene_000183", + "seed": 131830000, + "shared_state": "cap_open/scene_000183/shared_state.npz", + "video": "cap_open/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000183/front.json", + "scene_id": "cap_open/scene_000183", + "seed": 131830000, + "shared_state": "cap_open/scene_000183/shared_state.npz", + "video": "cap_open/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000183/right.json", + "scene_id": "cap_open/scene_000183", + "seed": 131830000, + "shared_state": "cap_open/scene_000183/shared_state.npz", + "video": "cap_open/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000184/left.json", + "scene_id": "cap_open/scene_000184", + "seed": 131840000, + "shared_state": "cap_open/scene_000184/shared_state.npz", + "video": "cap_open/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000184/front.json", + "scene_id": "cap_open/scene_000184", + "seed": 131840000, + "shared_state": "cap_open/scene_000184/shared_state.npz", + "video": "cap_open/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000184/right.json", + "scene_id": "cap_open/scene_000184", + "seed": 131840000, + "shared_state": "cap_open/scene_000184/shared_state.npz", + "video": "cap_open/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000185/left.json", + "scene_id": "cap_open/scene_000185", + "seed": 131850000, + "shared_state": "cap_open/scene_000185/shared_state.npz", + "video": "cap_open/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000185/front.json", + "scene_id": "cap_open/scene_000185", + "seed": 131850000, + "shared_state": "cap_open/scene_000185/shared_state.npz", + "video": "cap_open/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000185/right.json", + "scene_id": "cap_open/scene_000185", + "seed": 131850000, + "shared_state": "cap_open/scene_000185/shared_state.npz", + "video": "cap_open/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000186/left.json", + "scene_id": "cap_open/scene_000186", + "seed": 131860000, + "shared_state": "cap_open/scene_000186/shared_state.npz", + "video": "cap_open/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000186/front.json", + "scene_id": "cap_open/scene_000186", + "seed": 131860000, + "shared_state": "cap_open/scene_000186/shared_state.npz", + "video": "cap_open/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000186/right.json", + "scene_id": "cap_open/scene_000186", + "seed": 131860000, + "shared_state": "cap_open/scene_000186/shared_state.npz", + "video": "cap_open/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000187/left.json", + "scene_id": "cap_open/scene_000187", + "seed": 131870000, + "shared_state": "cap_open/scene_000187/shared_state.npz", + "video": "cap_open/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000187/front.json", + "scene_id": "cap_open/scene_000187", + "seed": 131870000, + "shared_state": "cap_open/scene_000187/shared_state.npz", + "video": "cap_open/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000187/right.json", + "scene_id": "cap_open/scene_000187", + "seed": 131870000, + "shared_state": "cap_open/scene_000187/shared_state.npz", + "video": "cap_open/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000188/left.json", + "scene_id": "cap_open/scene_000188", + "seed": 131880000, + "shared_state": "cap_open/scene_000188/shared_state.npz", + "video": "cap_open/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000188/front.json", + "scene_id": "cap_open/scene_000188", + "seed": 131880000, + "shared_state": "cap_open/scene_000188/shared_state.npz", + "video": "cap_open/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000188/right.json", + "scene_id": "cap_open/scene_000188", + "seed": 131880000, + "shared_state": "cap_open/scene_000188/shared_state.npz", + "video": "cap_open/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000189/left.json", + "scene_id": "cap_open/scene_000189", + "seed": 131890000, + "shared_state": "cap_open/scene_000189/shared_state.npz", + "video": "cap_open/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000189/front.json", + "scene_id": "cap_open/scene_000189", + "seed": 131890000, + "shared_state": "cap_open/scene_000189/shared_state.npz", + "video": "cap_open/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000189/right.json", + "scene_id": "cap_open/scene_000189", + "seed": 131890000, + "shared_state": "cap_open/scene_000189/shared_state.npz", + "video": "cap_open/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000190/left.json", + "scene_id": "cap_open/scene_000190", + "seed": 131900000, + "shared_state": "cap_open/scene_000190/shared_state.npz", + "video": "cap_open/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000190/front.json", + "scene_id": "cap_open/scene_000190", + "seed": 131900000, + "shared_state": "cap_open/scene_000190/shared_state.npz", + "video": "cap_open/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000190/right.json", + "scene_id": "cap_open/scene_000190", + "seed": 131900000, + "shared_state": "cap_open/scene_000190/shared_state.npz", + "video": "cap_open/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000191/left.json", + "scene_id": "cap_open/scene_000191", + "seed": 131910000, + "shared_state": "cap_open/scene_000191/shared_state.npz", + "video": "cap_open/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000191/front.json", + "scene_id": "cap_open/scene_000191", + "seed": 131910000, + "shared_state": "cap_open/scene_000191/shared_state.npz", + "video": "cap_open/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000191/right.json", + "scene_id": "cap_open/scene_000191", + "seed": 131910000, + "shared_state": "cap_open/scene_000191/shared_state.npz", + "video": "cap_open/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000192/left.json", + "scene_id": "cap_open/scene_000192", + "seed": 131920000, + "shared_state": "cap_open/scene_000192/shared_state.npz", + "video": "cap_open/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000192/front.json", + "scene_id": "cap_open/scene_000192", + "seed": 131920000, + "shared_state": "cap_open/scene_000192/shared_state.npz", + "video": "cap_open/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000192/right.json", + "scene_id": "cap_open/scene_000192", + "seed": 131920000, + "shared_state": "cap_open/scene_000192/shared_state.npz", + "video": "cap_open/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000193/left.json", + "scene_id": "cap_open/scene_000193", + "seed": 131930000, + "shared_state": "cap_open/scene_000193/shared_state.npz", + "video": "cap_open/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000193/front.json", + "scene_id": "cap_open/scene_000193", + "seed": 131930000, + "shared_state": "cap_open/scene_000193/shared_state.npz", + "video": "cap_open/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000193/right.json", + "scene_id": "cap_open/scene_000193", + "seed": 131930000, + "shared_state": "cap_open/scene_000193/shared_state.npz", + "video": "cap_open/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000194/left.json", + "scene_id": "cap_open/scene_000194", + "seed": 131940000, + "shared_state": "cap_open/scene_000194/shared_state.npz", + "video": "cap_open/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000194/front.json", + "scene_id": "cap_open/scene_000194", + "seed": 131940000, + "shared_state": "cap_open/scene_000194/shared_state.npz", + "video": "cap_open/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000194/right.json", + "scene_id": "cap_open/scene_000194", + "seed": 131940000, + "shared_state": "cap_open/scene_000194/shared_state.npz", + "video": "cap_open/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000195/left.json", + "scene_id": "cap_open/scene_000195", + "seed": 131950000, + "shared_state": "cap_open/scene_000195/shared_state.npz", + "video": "cap_open/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000195/front.json", + "scene_id": "cap_open/scene_000195", + "seed": 131950000, + "shared_state": "cap_open/scene_000195/shared_state.npz", + "video": "cap_open/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000195/right.json", + "scene_id": "cap_open/scene_000195", + "seed": 131950000, + "shared_state": "cap_open/scene_000195/shared_state.npz", + "video": "cap_open/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000196/left.json", + "scene_id": "cap_open/scene_000196", + "seed": 131960000, + "shared_state": "cap_open/scene_000196/shared_state.npz", + "video": "cap_open/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000196/front.json", + "scene_id": "cap_open/scene_000196", + "seed": 131960000, + "shared_state": "cap_open/scene_000196/shared_state.npz", + "video": "cap_open/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000196/right.json", + "scene_id": "cap_open/scene_000196", + "seed": 131960000, + "shared_state": "cap_open/scene_000196/shared_state.npz", + "video": "cap_open/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000197/left.json", + "scene_id": "cap_open/scene_000197", + "seed": 131970000, + "shared_state": "cap_open/scene_000197/shared_state.npz", + "video": "cap_open/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000197/front.json", + "scene_id": "cap_open/scene_000197", + "seed": 131970000, + "shared_state": "cap_open/scene_000197/shared_state.npz", + "video": "cap_open/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000197/right.json", + "scene_id": "cap_open/scene_000197", + "seed": 131970000, + "shared_state": "cap_open/scene_000197/shared_state.npz", + "video": "cap_open/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000198/left.json", + "scene_id": "cap_open/scene_000198", + "seed": 131980000, + "shared_state": "cap_open/scene_000198/shared_state.npz", + "video": "cap_open/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000198/front.json", + "scene_id": "cap_open/scene_000198", + "seed": 131980000, + "shared_state": "cap_open/scene_000198/shared_state.npz", + "video": "cap_open/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000198/right.json", + "scene_id": "cap_open/scene_000198", + "seed": 131980000, + "shared_state": "cap_open/scene_000198/shared_state.npz", + "video": "cap_open/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000199/left.json", + "scene_id": "cap_open/scene_000199", + "seed": 131990000, + "shared_state": "cap_open/scene_000199/shared_state.npz", + "video": "cap_open/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000199/front.json", + "scene_id": "cap_open/scene_000199", + "seed": 131990000, + "shared_state": "cap_open/scene_000199/shared_state.npz", + "video": "cap_open/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000199/right.json", + "scene_id": "cap_open/scene_000199", + "seed": 131990000, + "shared_state": "cap_open/scene_000199/shared_state.npz", + "video": "cap_open/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000200/left.json", + "scene_id": "cap_open/scene_000200", + "seed": 132000000, + "shared_state": "cap_open/scene_000200/shared_state.npz", + "video": "cap_open/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000200/front.json", + "scene_id": "cap_open/scene_000200", + "seed": 132000000, + "shared_state": "cap_open/scene_000200/shared_state.npz", + "video": "cap_open/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000200/right.json", + "scene_id": "cap_open/scene_000200", + "seed": 132000000, + "shared_state": "cap_open/scene_000200/shared_state.npz", + "video": "cap_open/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000201/left.json", + "scene_id": "cap_open/scene_000201", + "seed": 132010000, + "shared_state": "cap_open/scene_000201/shared_state.npz", + "video": "cap_open/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000201/front.json", + "scene_id": "cap_open/scene_000201", + "seed": 132010000, + "shared_state": "cap_open/scene_000201/shared_state.npz", + "video": "cap_open/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000201/right.json", + "scene_id": "cap_open/scene_000201", + "seed": 132010000, + "shared_state": "cap_open/scene_000201/shared_state.npz", + "video": "cap_open/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000202/left.json", + "scene_id": "cap_open/scene_000202", + "seed": 132020000, + "shared_state": "cap_open/scene_000202/shared_state.npz", + "video": "cap_open/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000202/front.json", + "scene_id": "cap_open/scene_000202", + "seed": 132020000, + "shared_state": "cap_open/scene_000202/shared_state.npz", + "video": "cap_open/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000202/right.json", + "scene_id": "cap_open/scene_000202", + "seed": 132020000, + "shared_state": "cap_open/scene_000202/shared_state.npz", + "video": "cap_open/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000203/left.json", + "scene_id": "cap_open/scene_000203", + "seed": 132030000, + "shared_state": "cap_open/scene_000203/shared_state.npz", + "video": "cap_open/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000203/front.json", + "scene_id": "cap_open/scene_000203", + "seed": 132030000, + "shared_state": "cap_open/scene_000203/shared_state.npz", + "video": "cap_open/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000203/right.json", + "scene_id": "cap_open/scene_000203", + "seed": 132030000, + "shared_state": "cap_open/scene_000203/shared_state.npz", + "video": "cap_open/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000204/left.json", + "scene_id": "cap_open/scene_000204", + "seed": 132040000, + "shared_state": "cap_open/scene_000204/shared_state.npz", + "video": "cap_open/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000204/front.json", + "scene_id": "cap_open/scene_000204", + "seed": 132040000, + "shared_state": "cap_open/scene_000204/shared_state.npz", + "video": "cap_open/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000204/right.json", + "scene_id": "cap_open/scene_000204", + "seed": 132040000, + "shared_state": "cap_open/scene_000204/shared_state.npz", + "video": "cap_open/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000205/left.json", + "scene_id": "cap_open/scene_000205", + "seed": 132050000, + "shared_state": "cap_open/scene_000205/shared_state.npz", + "video": "cap_open/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000205/front.json", + "scene_id": "cap_open/scene_000205", + "seed": 132050000, + "shared_state": "cap_open/scene_000205/shared_state.npz", + "video": "cap_open/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000205/right.json", + "scene_id": "cap_open/scene_000205", + "seed": 132050000, + "shared_state": "cap_open/scene_000205/shared_state.npz", + "video": "cap_open/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000206/left.json", + "scene_id": "cap_open/scene_000206", + "seed": 132060000, + "shared_state": "cap_open/scene_000206/shared_state.npz", + "video": "cap_open/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000206/front.json", + "scene_id": "cap_open/scene_000206", + "seed": 132060000, + "shared_state": "cap_open/scene_000206/shared_state.npz", + "video": "cap_open/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000206/right.json", + "scene_id": "cap_open/scene_000206", + "seed": 132060000, + "shared_state": "cap_open/scene_000206/shared_state.npz", + "video": "cap_open/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000207/left.json", + "scene_id": "cap_open/scene_000207", + "seed": 132070000, + "shared_state": "cap_open/scene_000207/shared_state.npz", + "video": "cap_open/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000207/front.json", + "scene_id": "cap_open/scene_000207", + "seed": 132070000, + "shared_state": "cap_open/scene_000207/shared_state.npz", + "video": "cap_open/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000207/right.json", + "scene_id": "cap_open/scene_000207", + "seed": 132070000, + "shared_state": "cap_open/scene_000207/shared_state.npz", + "video": "cap_open/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000208/left.json", + "scene_id": "cap_open/scene_000208", + "seed": 132080001, + "shared_state": "cap_open/scene_000208/shared_state.npz", + "video": "cap_open/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000208/front.json", + "scene_id": "cap_open/scene_000208", + "seed": 132080001, + "shared_state": "cap_open/scene_000208/shared_state.npz", + "video": "cap_open/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000208/right.json", + "scene_id": "cap_open/scene_000208", + "seed": 132080001, + "shared_state": "cap_open/scene_000208/shared_state.npz", + "video": "cap_open/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000209/left.json", + "scene_id": "cap_open/scene_000209", + "seed": 132090000, + "shared_state": "cap_open/scene_000209/shared_state.npz", + "video": "cap_open/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000209/front.json", + "scene_id": "cap_open/scene_000209", + "seed": 132090000, + "shared_state": "cap_open/scene_000209/shared_state.npz", + "video": "cap_open/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000209/right.json", + "scene_id": "cap_open/scene_000209", + "seed": 132090000, + "shared_state": "cap_open/scene_000209/shared_state.npz", + "video": "cap_open/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000210/left.json", + "scene_id": "cap_open/scene_000210", + "seed": 132100000, + "shared_state": "cap_open/scene_000210/shared_state.npz", + "video": "cap_open/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000210/front.json", + "scene_id": "cap_open/scene_000210", + "seed": 132100000, + "shared_state": "cap_open/scene_000210/shared_state.npz", + "video": "cap_open/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000210/right.json", + "scene_id": "cap_open/scene_000210", + "seed": 132100000, + "shared_state": "cap_open/scene_000210/shared_state.npz", + "video": "cap_open/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000211/left.json", + "scene_id": "cap_open/scene_000211", + "seed": 132110000, + "shared_state": "cap_open/scene_000211/shared_state.npz", + "video": "cap_open/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000211/front.json", + "scene_id": "cap_open/scene_000211", + "seed": 132110000, + "shared_state": "cap_open/scene_000211/shared_state.npz", + "video": "cap_open/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000211/right.json", + "scene_id": "cap_open/scene_000211", + "seed": 132110000, + "shared_state": "cap_open/scene_000211/shared_state.npz", + "video": "cap_open/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000212/left.json", + "scene_id": "cap_open/scene_000212", + "seed": 132120000, + "shared_state": "cap_open/scene_000212/shared_state.npz", + "video": "cap_open/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000212/front.json", + "scene_id": "cap_open/scene_000212", + "seed": 132120000, + "shared_state": "cap_open/scene_000212/shared_state.npz", + "video": "cap_open/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000212/right.json", + "scene_id": "cap_open/scene_000212", + "seed": 132120000, + "shared_state": "cap_open/scene_000212/shared_state.npz", + "video": "cap_open/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000213/left.json", + "scene_id": "cap_open/scene_000213", + "seed": 132130000, + "shared_state": "cap_open/scene_000213/shared_state.npz", + "video": "cap_open/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000213/front.json", + "scene_id": "cap_open/scene_000213", + "seed": 132130000, + "shared_state": "cap_open/scene_000213/shared_state.npz", + "video": "cap_open/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000213/right.json", + "scene_id": "cap_open/scene_000213", + "seed": 132130000, + "shared_state": "cap_open/scene_000213/shared_state.npz", + "video": "cap_open/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000214/left.json", + "scene_id": "cap_open/scene_000214", + "seed": 132140000, + "shared_state": "cap_open/scene_000214/shared_state.npz", + "video": "cap_open/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000214/front.json", + "scene_id": "cap_open/scene_000214", + "seed": 132140000, + "shared_state": "cap_open/scene_000214/shared_state.npz", + "video": "cap_open/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000214/right.json", + "scene_id": "cap_open/scene_000214", + "seed": 132140000, + "shared_state": "cap_open/scene_000214/shared_state.npz", + "video": "cap_open/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000215/left.json", + "scene_id": "cap_open/scene_000215", + "seed": 132150000, + "shared_state": "cap_open/scene_000215/shared_state.npz", + "video": "cap_open/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000215/front.json", + "scene_id": "cap_open/scene_000215", + "seed": 132150000, + "shared_state": "cap_open/scene_000215/shared_state.npz", + "video": "cap_open/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000215/right.json", + "scene_id": "cap_open/scene_000215", + "seed": 132150000, + "shared_state": "cap_open/scene_000215/shared_state.npz", + "video": "cap_open/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000216/left.json", + "scene_id": "cap_open/scene_000216", + "seed": 132160000, + "shared_state": "cap_open/scene_000216/shared_state.npz", + "video": "cap_open/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000216/front.json", + "scene_id": "cap_open/scene_000216", + "seed": 132160000, + "shared_state": "cap_open/scene_000216/shared_state.npz", + "video": "cap_open/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000216/right.json", + "scene_id": "cap_open/scene_000216", + "seed": 132160000, + "shared_state": "cap_open/scene_000216/shared_state.npz", + "video": "cap_open/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000217/left.json", + "scene_id": "cap_open/scene_000217", + "seed": 132170000, + "shared_state": "cap_open/scene_000217/shared_state.npz", + "video": "cap_open/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000217/front.json", + "scene_id": "cap_open/scene_000217", + "seed": 132170000, + "shared_state": "cap_open/scene_000217/shared_state.npz", + "video": "cap_open/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000217/right.json", + "scene_id": "cap_open/scene_000217", + "seed": 132170000, + "shared_state": "cap_open/scene_000217/shared_state.npz", + "video": "cap_open/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000218/left.json", + "scene_id": "cap_open/scene_000218", + "seed": 132180000, + "shared_state": "cap_open/scene_000218/shared_state.npz", + "video": "cap_open/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000218/front.json", + "scene_id": "cap_open/scene_000218", + "seed": 132180000, + "shared_state": "cap_open/scene_000218/shared_state.npz", + "video": "cap_open/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000218/right.json", + "scene_id": "cap_open/scene_000218", + "seed": 132180000, + "shared_state": "cap_open/scene_000218/shared_state.npz", + "video": "cap_open/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000219/left.json", + "scene_id": "cap_open/scene_000219", + "seed": 132190000, + "shared_state": "cap_open/scene_000219/shared_state.npz", + "video": "cap_open/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000219/front.json", + "scene_id": "cap_open/scene_000219", + "seed": 132190000, + "shared_state": "cap_open/scene_000219/shared_state.npz", + "video": "cap_open/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000219/right.json", + "scene_id": "cap_open/scene_000219", + "seed": 132190000, + "shared_state": "cap_open/scene_000219/shared_state.npz", + "video": "cap_open/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000220/left.json", + "scene_id": "cap_open/scene_000220", + "seed": 132200000, + "shared_state": "cap_open/scene_000220/shared_state.npz", + "video": "cap_open/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000220/front.json", + "scene_id": "cap_open/scene_000220", + "seed": 132200000, + "shared_state": "cap_open/scene_000220/shared_state.npz", + "video": "cap_open/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000220/right.json", + "scene_id": "cap_open/scene_000220", + "seed": 132200000, + "shared_state": "cap_open/scene_000220/shared_state.npz", + "video": "cap_open/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000221/left.json", + "scene_id": "cap_open/scene_000221", + "seed": 132210000, + "shared_state": "cap_open/scene_000221/shared_state.npz", + "video": "cap_open/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000221/front.json", + "scene_id": "cap_open/scene_000221", + "seed": 132210000, + "shared_state": "cap_open/scene_000221/shared_state.npz", + "video": "cap_open/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000221/right.json", + "scene_id": "cap_open/scene_000221", + "seed": 132210000, + "shared_state": "cap_open/scene_000221/shared_state.npz", + "video": "cap_open/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000222/left.json", + "scene_id": "cap_open/scene_000222", + "seed": 132220000, + "shared_state": "cap_open/scene_000222/shared_state.npz", + "video": "cap_open/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000222/front.json", + "scene_id": "cap_open/scene_000222", + "seed": 132220000, + "shared_state": "cap_open/scene_000222/shared_state.npz", + "video": "cap_open/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000222/right.json", + "scene_id": "cap_open/scene_000222", + "seed": 132220000, + "shared_state": "cap_open/scene_000222/shared_state.npz", + "video": "cap_open/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000223/left.json", + "scene_id": "cap_open/scene_000223", + "seed": 132230000, + "shared_state": "cap_open/scene_000223/shared_state.npz", + "video": "cap_open/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000223/front.json", + "scene_id": "cap_open/scene_000223", + "seed": 132230000, + "shared_state": "cap_open/scene_000223/shared_state.npz", + "video": "cap_open/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000223/right.json", + "scene_id": "cap_open/scene_000223", + "seed": 132230000, + "shared_state": "cap_open/scene_000223/shared_state.npz", + "video": "cap_open/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000224/left.json", + "scene_id": "cap_open/scene_000224", + "seed": 132240000, + "shared_state": "cap_open/scene_000224/shared_state.npz", + "video": "cap_open/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000224/front.json", + "scene_id": "cap_open/scene_000224", + "seed": 132240000, + "shared_state": "cap_open/scene_000224/shared_state.npz", + "video": "cap_open/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000224/right.json", + "scene_id": "cap_open/scene_000224", + "seed": 132240000, + "shared_state": "cap_open/scene_000224/shared_state.npz", + "video": "cap_open/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000225/left.json", + "scene_id": "cap_open/scene_000225", + "seed": 132250000, + "shared_state": "cap_open/scene_000225/shared_state.npz", + "video": "cap_open/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000225/front.json", + "scene_id": "cap_open/scene_000225", + "seed": 132250000, + "shared_state": "cap_open/scene_000225/shared_state.npz", + "video": "cap_open/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000225/right.json", + "scene_id": "cap_open/scene_000225", + "seed": 132250000, + "shared_state": "cap_open/scene_000225/shared_state.npz", + "video": "cap_open/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000226/left.json", + "scene_id": "cap_open/scene_000226", + "seed": 132260000, + "shared_state": "cap_open/scene_000226/shared_state.npz", + "video": "cap_open/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000226/front.json", + "scene_id": "cap_open/scene_000226", + "seed": 132260000, + "shared_state": "cap_open/scene_000226/shared_state.npz", + "video": "cap_open/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000226/right.json", + "scene_id": "cap_open/scene_000226", + "seed": 132260000, + "shared_state": "cap_open/scene_000226/shared_state.npz", + "video": "cap_open/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000227/left.json", + "scene_id": "cap_open/scene_000227", + "seed": 132270000, + "shared_state": "cap_open/scene_000227/shared_state.npz", + "video": "cap_open/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000227/front.json", + "scene_id": "cap_open/scene_000227", + "seed": 132270000, + "shared_state": "cap_open/scene_000227/shared_state.npz", + "video": "cap_open/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000227/right.json", + "scene_id": "cap_open/scene_000227", + "seed": 132270000, + "shared_state": "cap_open/scene_000227/shared_state.npz", + "video": "cap_open/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000228/left.json", + "scene_id": "cap_open/scene_000228", + "seed": 132280000, + "shared_state": "cap_open/scene_000228/shared_state.npz", + "video": "cap_open/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000228/front.json", + "scene_id": "cap_open/scene_000228", + "seed": 132280000, + "shared_state": "cap_open/scene_000228/shared_state.npz", + "video": "cap_open/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000228/right.json", + "scene_id": "cap_open/scene_000228", + "seed": 132280000, + "shared_state": "cap_open/scene_000228/shared_state.npz", + "video": "cap_open/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000229/left.json", + "scene_id": "cap_open/scene_000229", + "seed": 132290000, + "shared_state": "cap_open/scene_000229/shared_state.npz", + "video": "cap_open/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000229/front.json", + "scene_id": "cap_open/scene_000229", + "seed": 132290000, + "shared_state": "cap_open/scene_000229/shared_state.npz", + "video": "cap_open/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000229/right.json", + "scene_id": "cap_open/scene_000229", + "seed": 132290000, + "shared_state": "cap_open/scene_000229/shared_state.npz", + "video": "cap_open/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000230/left.json", + "scene_id": "cap_open/scene_000230", + "seed": 132300000, + "shared_state": "cap_open/scene_000230/shared_state.npz", + "video": "cap_open/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000230/front.json", + "scene_id": "cap_open/scene_000230", + "seed": 132300000, + "shared_state": "cap_open/scene_000230/shared_state.npz", + "video": "cap_open/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000230/right.json", + "scene_id": "cap_open/scene_000230", + "seed": 132300000, + "shared_state": "cap_open/scene_000230/shared_state.npz", + "video": "cap_open/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000231/left.json", + "scene_id": "cap_open/scene_000231", + "seed": 132310000, + "shared_state": "cap_open/scene_000231/shared_state.npz", + "video": "cap_open/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000231/front.json", + "scene_id": "cap_open/scene_000231", + "seed": 132310000, + "shared_state": "cap_open/scene_000231/shared_state.npz", + "video": "cap_open/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000231/right.json", + "scene_id": "cap_open/scene_000231", + "seed": 132310000, + "shared_state": "cap_open/scene_000231/shared_state.npz", + "video": "cap_open/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000232/left.json", + "scene_id": "cap_open/scene_000232", + "seed": 132320000, + "shared_state": "cap_open/scene_000232/shared_state.npz", + "video": "cap_open/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000232/front.json", + "scene_id": "cap_open/scene_000232", + "seed": 132320000, + "shared_state": "cap_open/scene_000232/shared_state.npz", + "video": "cap_open/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000232/right.json", + "scene_id": "cap_open/scene_000232", + "seed": 132320000, + "shared_state": "cap_open/scene_000232/shared_state.npz", + "video": "cap_open/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000233/left.json", + "scene_id": "cap_open/scene_000233", + "seed": 132330000, + "shared_state": "cap_open/scene_000233/shared_state.npz", + "video": "cap_open/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000233/front.json", + "scene_id": "cap_open/scene_000233", + "seed": 132330000, + "shared_state": "cap_open/scene_000233/shared_state.npz", + "video": "cap_open/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000233/right.json", + "scene_id": "cap_open/scene_000233", + "seed": 132330000, + "shared_state": "cap_open/scene_000233/shared_state.npz", + "video": "cap_open/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000234/left.json", + "scene_id": "cap_open/scene_000234", + "seed": 132340000, + "shared_state": "cap_open/scene_000234/shared_state.npz", + "video": "cap_open/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000234/front.json", + "scene_id": "cap_open/scene_000234", + "seed": 132340000, + "shared_state": "cap_open/scene_000234/shared_state.npz", + "video": "cap_open/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000234/right.json", + "scene_id": "cap_open/scene_000234", + "seed": 132340000, + "shared_state": "cap_open/scene_000234/shared_state.npz", + "video": "cap_open/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000235/left.json", + "scene_id": "cap_open/scene_000235", + "seed": 132350000, + "shared_state": "cap_open/scene_000235/shared_state.npz", + "video": "cap_open/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000235/front.json", + "scene_id": "cap_open/scene_000235", + "seed": 132350000, + "shared_state": "cap_open/scene_000235/shared_state.npz", + "video": "cap_open/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000235/right.json", + "scene_id": "cap_open/scene_000235", + "seed": 132350000, + "shared_state": "cap_open/scene_000235/shared_state.npz", + "video": "cap_open/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000236/left.json", + "scene_id": "cap_open/scene_000236", + "seed": 132360000, + "shared_state": "cap_open/scene_000236/shared_state.npz", + "video": "cap_open/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000236/front.json", + "scene_id": "cap_open/scene_000236", + "seed": 132360000, + "shared_state": "cap_open/scene_000236/shared_state.npz", + "video": "cap_open/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000236/right.json", + "scene_id": "cap_open/scene_000236", + "seed": 132360000, + "shared_state": "cap_open/scene_000236/shared_state.npz", + "video": "cap_open/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000237/left.json", + "scene_id": "cap_open/scene_000237", + "seed": 132370000, + "shared_state": "cap_open/scene_000237/shared_state.npz", + "video": "cap_open/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000237/front.json", + "scene_id": "cap_open/scene_000237", + "seed": 132370000, + "shared_state": "cap_open/scene_000237/shared_state.npz", + "video": "cap_open/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000237/right.json", + "scene_id": "cap_open/scene_000237", + "seed": 132370000, + "shared_state": "cap_open/scene_000237/shared_state.npz", + "video": "cap_open/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000238/left.json", + "scene_id": "cap_open/scene_000238", + "seed": 132380000, + "shared_state": "cap_open/scene_000238/shared_state.npz", + "video": "cap_open/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000238/front.json", + "scene_id": "cap_open/scene_000238", + "seed": 132380000, + "shared_state": "cap_open/scene_000238/shared_state.npz", + "video": "cap_open/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000238/right.json", + "scene_id": "cap_open/scene_000238", + "seed": 132380000, + "shared_state": "cap_open/scene_000238/shared_state.npz", + "video": "cap_open/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000239/left.json", + "scene_id": "cap_open/scene_000239", + "seed": 132390000, + "shared_state": "cap_open/scene_000239/shared_state.npz", + "video": "cap_open/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000239/front.json", + "scene_id": "cap_open/scene_000239", + "seed": 132390000, + "shared_state": "cap_open/scene_000239/shared_state.npz", + "video": "cap_open/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000239/right.json", + "scene_id": "cap_open/scene_000239", + "seed": 132390000, + "shared_state": "cap_open/scene_000239/shared_state.npz", + "video": "cap_open/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000240/left.json", + "scene_id": "cap_open/scene_000240", + "seed": 132400000, + "shared_state": "cap_open/scene_000240/shared_state.npz", + "video": "cap_open/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000240/front.json", + "scene_id": "cap_open/scene_000240", + "seed": 132400000, + "shared_state": "cap_open/scene_000240/shared_state.npz", + "video": "cap_open/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000240/right.json", + "scene_id": "cap_open/scene_000240", + "seed": 132400000, + "shared_state": "cap_open/scene_000240/shared_state.npz", + "video": "cap_open/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000241/left.json", + "scene_id": "cap_open/scene_000241", + "seed": 132410000, + "shared_state": "cap_open/scene_000241/shared_state.npz", + "video": "cap_open/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000241/front.json", + "scene_id": "cap_open/scene_000241", + "seed": 132410000, + "shared_state": "cap_open/scene_000241/shared_state.npz", + "video": "cap_open/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000241/right.json", + "scene_id": "cap_open/scene_000241", + "seed": 132410000, + "shared_state": "cap_open/scene_000241/shared_state.npz", + "video": "cap_open/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000242/left.json", + "scene_id": "cap_open/scene_000242", + "seed": 132420000, + "shared_state": "cap_open/scene_000242/shared_state.npz", + "video": "cap_open/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000242/front.json", + "scene_id": "cap_open/scene_000242", + "seed": 132420000, + "shared_state": "cap_open/scene_000242/shared_state.npz", + "video": "cap_open/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000242/right.json", + "scene_id": "cap_open/scene_000242", + "seed": 132420000, + "shared_state": "cap_open/scene_000242/shared_state.npz", + "video": "cap_open/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000243/left.json", + "scene_id": "cap_open/scene_000243", + "seed": 132430000, + "shared_state": "cap_open/scene_000243/shared_state.npz", + "video": "cap_open/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000243/front.json", + "scene_id": "cap_open/scene_000243", + "seed": 132430000, + "shared_state": "cap_open/scene_000243/shared_state.npz", + "video": "cap_open/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000243/right.json", + "scene_id": "cap_open/scene_000243", + "seed": 132430000, + "shared_state": "cap_open/scene_000243/shared_state.npz", + "video": "cap_open/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000244/left.json", + "scene_id": "cap_open/scene_000244", + "seed": 132440000, + "shared_state": "cap_open/scene_000244/shared_state.npz", + "video": "cap_open/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000244/front.json", + "scene_id": "cap_open/scene_000244", + "seed": 132440000, + "shared_state": "cap_open/scene_000244/shared_state.npz", + "video": "cap_open/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000244/right.json", + "scene_id": "cap_open/scene_000244", + "seed": 132440000, + "shared_state": "cap_open/scene_000244/shared_state.npz", + "video": "cap_open/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000245/left.json", + "scene_id": "cap_open/scene_000245", + "seed": 132450000, + "shared_state": "cap_open/scene_000245/shared_state.npz", + "video": "cap_open/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000245/front.json", + "scene_id": "cap_open/scene_000245", + "seed": 132450000, + "shared_state": "cap_open/scene_000245/shared_state.npz", + "video": "cap_open/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000245/right.json", + "scene_id": "cap_open/scene_000245", + "seed": 132450000, + "shared_state": "cap_open/scene_000245/shared_state.npz", + "video": "cap_open/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000246/left.json", + "scene_id": "cap_open/scene_000246", + "seed": 132460000, + "shared_state": "cap_open/scene_000246/shared_state.npz", + "video": "cap_open/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000246/front.json", + "scene_id": "cap_open/scene_000246", + "seed": 132460000, + "shared_state": "cap_open/scene_000246/shared_state.npz", + "video": "cap_open/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000246/right.json", + "scene_id": "cap_open/scene_000246", + "seed": 132460000, + "shared_state": "cap_open/scene_000246/shared_state.npz", + "video": "cap_open/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000247/left.json", + "scene_id": "cap_open/scene_000247", + "seed": 132470000, + "shared_state": "cap_open/scene_000247/shared_state.npz", + "video": "cap_open/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000247/front.json", + "scene_id": "cap_open/scene_000247", + "seed": 132470000, + "shared_state": "cap_open/scene_000247/shared_state.npz", + "video": "cap_open/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000247/right.json", + "scene_id": "cap_open/scene_000247", + "seed": 132470000, + "shared_state": "cap_open/scene_000247/shared_state.npz", + "video": "cap_open/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000248/left.json", + "scene_id": "cap_open/scene_000248", + "seed": 132480001, + "shared_state": "cap_open/scene_000248/shared_state.npz", + "video": "cap_open/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000248/front.json", + "scene_id": "cap_open/scene_000248", + "seed": 132480001, + "shared_state": "cap_open/scene_000248/shared_state.npz", + "video": "cap_open/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000248/right.json", + "scene_id": "cap_open/scene_000248", + "seed": 132480001, + "shared_state": "cap_open/scene_000248/shared_state.npz", + "video": "cap_open/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000249/left.json", + "scene_id": "cap_open/scene_000249", + "seed": 132490000, + "shared_state": "cap_open/scene_000249/shared_state.npz", + "video": "cap_open/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000249/front.json", + "scene_id": "cap_open/scene_000249", + "seed": 132490000, + "shared_state": "cap_open/scene_000249/shared_state.npz", + "video": "cap_open/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000249/right.json", + "scene_id": "cap_open/scene_000249", + "seed": 132490000, + "shared_state": "cap_open/scene_000249/shared_state.npz", + "video": "cap_open/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000250/left.json", + "scene_id": "cap_open/scene_000250", + "seed": 132500000, + "shared_state": "cap_open/scene_000250/shared_state.npz", + "video": "cap_open/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000250/front.json", + "scene_id": "cap_open/scene_000250", + "seed": 132500000, + "shared_state": "cap_open/scene_000250/shared_state.npz", + "video": "cap_open/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000250/right.json", + "scene_id": "cap_open/scene_000250", + "seed": 132500000, + "shared_state": "cap_open/scene_000250/shared_state.npz", + "video": "cap_open/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000251/left.json", + "scene_id": "cap_open/scene_000251", + "seed": 132510000, + "shared_state": "cap_open/scene_000251/shared_state.npz", + "video": "cap_open/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000251/front.json", + "scene_id": "cap_open/scene_000251", + "seed": 132510000, + "shared_state": "cap_open/scene_000251/shared_state.npz", + "video": "cap_open/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000251/right.json", + "scene_id": "cap_open/scene_000251", + "seed": 132510000, + "shared_state": "cap_open/scene_000251/shared_state.npz", + "video": "cap_open/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000252/left.json", + "scene_id": "cap_open/scene_000252", + "seed": 132520000, + "shared_state": "cap_open/scene_000252/shared_state.npz", + "video": "cap_open/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000252/front.json", + "scene_id": "cap_open/scene_000252", + "seed": 132520000, + "shared_state": "cap_open/scene_000252/shared_state.npz", + "video": "cap_open/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000252/right.json", + "scene_id": "cap_open/scene_000252", + "seed": 132520000, + "shared_state": "cap_open/scene_000252/shared_state.npz", + "video": "cap_open/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000253/left.json", + "scene_id": "cap_open/scene_000253", + "seed": 132530000, + "shared_state": "cap_open/scene_000253/shared_state.npz", + "video": "cap_open/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000253/front.json", + "scene_id": "cap_open/scene_000253", + "seed": 132530000, + "shared_state": "cap_open/scene_000253/shared_state.npz", + "video": "cap_open/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000253/right.json", + "scene_id": "cap_open/scene_000253", + "seed": 132530000, + "shared_state": "cap_open/scene_000253/shared_state.npz", + "video": "cap_open/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000254/left.json", + "scene_id": "cap_open/scene_000254", + "seed": 132540000, + "shared_state": "cap_open/scene_000254/shared_state.npz", + "video": "cap_open/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000254/front.json", + "scene_id": "cap_open/scene_000254", + "seed": 132540000, + "shared_state": "cap_open/scene_000254/shared_state.npz", + "video": "cap_open/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000254/right.json", + "scene_id": "cap_open/scene_000254", + "seed": 132540000, + "shared_state": "cap_open/scene_000254/shared_state.npz", + "video": "cap_open/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000255/left.json", + "scene_id": "cap_open/scene_000255", + "seed": 132550000, + "shared_state": "cap_open/scene_000255/shared_state.npz", + "video": "cap_open/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000255/front.json", + "scene_id": "cap_open/scene_000255", + "seed": 132550000, + "shared_state": "cap_open/scene_000255/shared_state.npz", + "video": "cap_open/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000255/right.json", + "scene_id": "cap_open/scene_000255", + "seed": 132550000, + "shared_state": "cap_open/scene_000255/shared_state.npz", + "video": "cap_open/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000256/left.json", + "scene_id": "cap_open/scene_000256", + "seed": 132560000, + "shared_state": "cap_open/scene_000256/shared_state.npz", + "video": "cap_open/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000256/front.json", + "scene_id": "cap_open/scene_000256", + "seed": 132560000, + "shared_state": "cap_open/scene_000256/shared_state.npz", + "video": "cap_open/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000256/right.json", + "scene_id": "cap_open/scene_000256", + "seed": 132560000, + "shared_state": "cap_open/scene_000256/shared_state.npz", + "video": "cap_open/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000257/left.json", + "scene_id": "cap_open/scene_000257", + "seed": 132570000, + "shared_state": "cap_open/scene_000257/shared_state.npz", + "video": "cap_open/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000257/front.json", + "scene_id": "cap_open/scene_000257", + "seed": 132570000, + "shared_state": "cap_open/scene_000257/shared_state.npz", + "video": "cap_open/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000257/right.json", + "scene_id": "cap_open/scene_000257", + "seed": 132570000, + "shared_state": "cap_open/scene_000257/shared_state.npz", + "video": "cap_open/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000258/left.json", + "scene_id": "cap_open/scene_000258", + "seed": 132580000, + "shared_state": "cap_open/scene_000258/shared_state.npz", + "video": "cap_open/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000258/front.json", + "scene_id": "cap_open/scene_000258", + "seed": 132580000, + "shared_state": "cap_open/scene_000258/shared_state.npz", + "video": "cap_open/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000258/right.json", + "scene_id": "cap_open/scene_000258", + "seed": 132580000, + "shared_state": "cap_open/scene_000258/shared_state.npz", + "video": "cap_open/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000259/left.json", + "scene_id": "cap_open/scene_000259", + "seed": 132590000, + "shared_state": "cap_open/scene_000259/shared_state.npz", + "video": "cap_open/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000259/front.json", + "scene_id": "cap_open/scene_000259", + "seed": 132590000, + "shared_state": "cap_open/scene_000259/shared_state.npz", + "video": "cap_open/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000259/right.json", + "scene_id": "cap_open/scene_000259", + "seed": 132590000, + "shared_state": "cap_open/scene_000259/shared_state.npz", + "video": "cap_open/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000260/left.json", + "scene_id": "cap_open/scene_000260", + "seed": 132600000, + "shared_state": "cap_open/scene_000260/shared_state.npz", + "video": "cap_open/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000260/front.json", + "scene_id": "cap_open/scene_000260", + "seed": 132600000, + "shared_state": "cap_open/scene_000260/shared_state.npz", + "video": "cap_open/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000260/right.json", + "scene_id": "cap_open/scene_000260", + "seed": 132600000, + "shared_state": "cap_open/scene_000260/shared_state.npz", + "video": "cap_open/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000261/left.json", + "scene_id": "cap_open/scene_000261", + "seed": 132610000, + "shared_state": "cap_open/scene_000261/shared_state.npz", + "video": "cap_open/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000261/front.json", + "scene_id": "cap_open/scene_000261", + "seed": 132610000, + "shared_state": "cap_open/scene_000261/shared_state.npz", + "video": "cap_open/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000261/right.json", + "scene_id": "cap_open/scene_000261", + "seed": 132610000, + "shared_state": "cap_open/scene_000261/shared_state.npz", + "video": "cap_open/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000262/left.json", + "scene_id": "cap_open/scene_000262", + "seed": 132620000, + "shared_state": "cap_open/scene_000262/shared_state.npz", + "video": "cap_open/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000262/front.json", + "scene_id": "cap_open/scene_000262", + "seed": 132620000, + "shared_state": "cap_open/scene_000262/shared_state.npz", + "video": "cap_open/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000262/right.json", + "scene_id": "cap_open/scene_000262", + "seed": 132620000, + "shared_state": "cap_open/scene_000262/shared_state.npz", + "video": "cap_open/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000263/left.json", + "scene_id": "cap_open/scene_000263", + "seed": 132630000, + "shared_state": "cap_open/scene_000263/shared_state.npz", + "video": "cap_open/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000263/front.json", + "scene_id": "cap_open/scene_000263", + "seed": 132630000, + "shared_state": "cap_open/scene_000263/shared_state.npz", + "video": "cap_open/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000263/right.json", + "scene_id": "cap_open/scene_000263", + "seed": 132630000, + "shared_state": "cap_open/scene_000263/shared_state.npz", + "video": "cap_open/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000264/left.json", + "scene_id": "cap_open/scene_000264", + "seed": 132640000, + "shared_state": "cap_open/scene_000264/shared_state.npz", + "video": "cap_open/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000264/front.json", + "scene_id": "cap_open/scene_000264", + "seed": 132640000, + "shared_state": "cap_open/scene_000264/shared_state.npz", + "video": "cap_open/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000264/right.json", + "scene_id": "cap_open/scene_000264", + "seed": 132640000, + "shared_state": "cap_open/scene_000264/shared_state.npz", + "video": "cap_open/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000265/left.json", + "scene_id": "cap_open/scene_000265", + "seed": 132650000, + "shared_state": "cap_open/scene_000265/shared_state.npz", + "video": "cap_open/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000265/front.json", + "scene_id": "cap_open/scene_000265", + "seed": 132650000, + "shared_state": "cap_open/scene_000265/shared_state.npz", + "video": "cap_open/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000265/right.json", + "scene_id": "cap_open/scene_000265", + "seed": 132650000, + "shared_state": "cap_open/scene_000265/shared_state.npz", + "video": "cap_open/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000266/left.json", + "scene_id": "cap_open/scene_000266", + "seed": 132660000, + "shared_state": "cap_open/scene_000266/shared_state.npz", + "video": "cap_open/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000266/front.json", + "scene_id": "cap_open/scene_000266", + "seed": 132660000, + "shared_state": "cap_open/scene_000266/shared_state.npz", + "video": "cap_open/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000266/right.json", + "scene_id": "cap_open/scene_000266", + "seed": 132660000, + "shared_state": "cap_open/scene_000266/shared_state.npz", + "video": "cap_open/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000267/left.json", + "scene_id": "cap_open/scene_000267", + "seed": 132670000, + "shared_state": "cap_open/scene_000267/shared_state.npz", + "video": "cap_open/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000267/front.json", + "scene_id": "cap_open/scene_000267", + "seed": 132670000, + "shared_state": "cap_open/scene_000267/shared_state.npz", + "video": "cap_open/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000267/right.json", + "scene_id": "cap_open/scene_000267", + "seed": 132670000, + "shared_state": "cap_open/scene_000267/shared_state.npz", + "video": "cap_open/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000268/left.json", + "scene_id": "cap_open/scene_000268", + "seed": 132680000, + "shared_state": "cap_open/scene_000268/shared_state.npz", + "video": "cap_open/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000268/front.json", + "scene_id": "cap_open/scene_000268", + "seed": 132680000, + "shared_state": "cap_open/scene_000268/shared_state.npz", + "video": "cap_open/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000268/right.json", + "scene_id": "cap_open/scene_000268", + "seed": 132680000, + "shared_state": "cap_open/scene_000268/shared_state.npz", + "video": "cap_open/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000269/left.json", + "scene_id": "cap_open/scene_000269", + "seed": 132690000, + "shared_state": "cap_open/scene_000269/shared_state.npz", + "video": "cap_open/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000269/front.json", + "scene_id": "cap_open/scene_000269", + "seed": 132690000, + "shared_state": "cap_open/scene_000269/shared_state.npz", + "video": "cap_open/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000269/right.json", + "scene_id": "cap_open/scene_000269", + "seed": 132690000, + "shared_state": "cap_open/scene_000269/shared_state.npz", + "video": "cap_open/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000270/left.json", + "scene_id": "cap_open/scene_000270", + "seed": 132700000, + "shared_state": "cap_open/scene_000270/shared_state.npz", + "video": "cap_open/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000270/front.json", + "scene_id": "cap_open/scene_000270", + "seed": 132700000, + "shared_state": "cap_open/scene_000270/shared_state.npz", + "video": "cap_open/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000270/right.json", + "scene_id": "cap_open/scene_000270", + "seed": 132700000, + "shared_state": "cap_open/scene_000270/shared_state.npz", + "video": "cap_open/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000271/left.json", + "scene_id": "cap_open/scene_000271", + "seed": 132710000, + "shared_state": "cap_open/scene_000271/shared_state.npz", + "video": "cap_open/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000271/front.json", + "scene_id": "cap_open/scene_000271", + "seed": 132710000, + "shared_state": "cap_open/scene_000271/shared_state.npz", + "video": "cap_open/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000271/right.json", + "scene_id": "cap_open/scene_000271", + "seed": 132710000, + "shared_state": "cap_open/scene_000271/shared_state.npz", + "video": "cap_open/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000272/left.json", + "scene_id": "cap_open/scene_000272", + "seed": 132720000, + "shared_state": "cap_open/scene_000272/shared_state.npz", + "video": "cap_open/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000272/front.json", + "scene_id": "cap_open/scene_000272", + "seed": 132720000, + "shared_state": "cap_open/scene_000272/shared_state.npz", + "video": "cap_open/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000272/right.json", + "scene_id": "cap_open/scene_000272", + "seed": 132720000, + "shared_state": "cap_open/scene_000272/shared_state.npz", + "video": "cap_open/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000273/left.json", + "scene_id": "cap_open/scene_000273", + "seed": 132730000, + "shared_state": "cap_open/scene_000273/shared_state.npz", + "video": "cap_open/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000273/front.json", + "scene_id": "cap_open/scene_000273", + "seed": 132730000, + "shared_state": "cap_open/scene_000273/shared_state.npz", + "video": "cap_open/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000273/right.json", + "scene_id": "cap_open/scene_000273", + "seed": 132730000, + "shared_state": "cap_open/scene_000273/shared_state.npz", + "video": "cap_open/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000274/left.json", + "scene_id": "cap_open/scene_000274", + "seed": 132740000, + "shared_state": "cap_open/scene_000274/shared_state.npz", + "video": "cap_open/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000274/front.json", + "scene_id": "cap_open/scene_000274", + "seed": 132740000, + "shared_state": "cap_open/scene_000274/shared_state.npz", + "video": "cap_open/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000274/right.json", + "scene_id": "cap_open/scene_000274", + "seed": 132740000, + "shared_state": "cap_open/scene_000274/shared_state.npz", + "video": "cap_open/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000275/left.json", + "scene_id": "cap_open/scene_000275", + "seed": 132750000, + "shared_state": "cap_open/scene_000275/shared_state.npz", + "video": "cap_open/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000275/front.json", + "scene_id": "cap_open/scene_000275", + "seed": 132750000, + "shared_state": "cap_open/scene_000275/shared_state.npz", + "video": "cap_open/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000275/right.json", + "scene_id": "cap_open/scene_000275", + "seed": 132750000, + "shared_state": "cap_open/scene_000275/shared_state.npz", + "video": "cap_open/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000276/left.json", + "scene_id": "cap_open/scene_000276", + "seed": 132760000, + "shared_state": "cap_open/scene_000276/shared_state.npz", + "video": "cap_open/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000276/front.json", + "scene_id": "cap_open/scene_000276", + "seed": 132760000, + "shared_state": "cap_open/scene_000276/shared_state.npz", + "video": "cap_open/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000276/right.json", + "scene_id": "cap_open/scene_000276", + "seed": 132760000, + "shared_state": "cap_open/scene_000276/shared_state.npz", + "video": "cap_open/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000277/left.json", + "scene_id": "cap_open/scene_000277", + "seed": 132770000, + "shared_state": "cap_open/scene_000277/shared_state.npz", + "video": "cap_open/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000277/front.json", + "scene_id": "cap_open/scene_000277", + "seed": 132770000, + "shared_state": "cap_open/scene_000277/shared_state.npz", + "video": "cap_open/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000277/right.json", + "scene_id": "cap_open/scene_000277", + "seed": 132770000, + "shared_state": "cap_open/scene_000277/shared_state.npz", + "video": "cap_open/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000278/left.json", + "scene_id": "cap_open/scene_000278", + "seed": 132780000, + "shared_state": "cap_open/scene_000278/shared_state.npz", + "video": "cap_open/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000278/front.json", + "scene_id": "cap_open/scene_000278", + "seed": 132780000, + "shared_state": "cap_open/scene_000278/shared_state.npz", + "video": "cap_open/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000278/right.json", + "scene_id": "cap_open/scene_000278", + "seed": 132780000, + "shared_state": "cap_open/scene_000278/shared_state.npz", + "video": "cap_open/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000279/left.json", + "scene_id": "cap_open/scene_000279", + "seed": 132790000, + "shared_state": "cap_open/scene_000279/shared_state.npz", + "video": "cap_open/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000279/front.json", + "scene_id": "cap_open/scene_000279", + "seed": 132790000, + "shared_state": "cap_open/scene_000279/shared_state.npz", + "video": "cap_open/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000279/right.json", + "scene_id": "cap_open/scene_000279", + "seed": 132790000, + "shared_state": "cap_open/scene_000279/shared_state.npz", + "video": "cap_open/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000280/left.json", + "scene_id": "cap_open/scene_000280", + "seed": 132800000, + "shared_state": "cap_open/scene_000280/shared_state.npz", + "video": "cap_open/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000280/front.json", + "scene_id": "cap_open/scene_000280", + "seed": 132800000, + "shared_state": "cap_open/scene_000280/shared_state.npz", + "video": "cap_open/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000280/right.json", + "scene_id": "cap_open/scene_000280", + "seed": 132800000, + "shared_state": "cap_open/scene_000280/shared_state.npz", + "video": "cap_open/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000281/left.json", + "scene_id": "cap_open/scene_000281", + "seed": 132810000, + "shared_state": "cap_open/scene_000281/shared_state.npz", + "video": "cap_open/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000281/front.json", + "scene_id": "cap_open/scene_000281", + "seed": 132810000, + "shared_state": "cap_open/scene_000281/shared_state.npz", + "video": "cap_open/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000281/right.json", + "scene_id": "cap_open/scene_000281", + "seed": 132810000, + "shared_state": "cap_open/scene_000281/shared_state.npz", + "video": "cap_open/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000282/left.json", + "scene_id": "cap_open/scene_000282", + "seed": 132820000, + "shared_state": "cap_open/scene_000282/shared_state.npz", + "video": "cap_open/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000282/front.json", + "scene_id": "cap_open/scene_000282", + "seed": 132820000, + "shared_state": "cap_open/scene_000282/shared_state.npz", + "video": "cap_open/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000282/right.json", + "scene_id": "cap_open/scene_000282", + "seed": 132820000, + "shared_state": "cap_open/scene_000282/shared_state.npz", + "video": "cap_open/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000283/left.json", + "scene_id": "cap_open/scene_000283", + "seed": 132830000, + "shared_state": "cap_open/scene_000283/shared_state.npz", + "video": "cap_open/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000283/front.json", + "scene_id": "cap_open/scene_000283", + "seed": 132830000, + "shared_state": "cap_open/scene_000283/shared_state.npz", + "video": "cap_open/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000283/right.json", + "scene_id": "cap_open/scene_000283", + "seed": 132830000, + "shared_state": "cap_open/scene_000283/shared_state.npz", + "video": "cap_open/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000284/left.json", + "scene_id": "cap_open/scene_000284", + "seed": 132840000, + "shared_state": "cap_open/scene_000284/shared_state.npz", + "video": "cap_open/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000284/front.json", + "scene_id": "cap_open/scene_000284", + "seed": 132840000, + "shared_state": "cap_open/scene_000284/shared_state.npz", + "video": "cap_open/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000284/right.json", + "scene_id": "cap_open/scene_000284", + "seed": 132840000, + "shared_state": "cap_open/scene_000284/shared_state.npz", + "video": "cap_open/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000285/left.json", + "scene_id": "cap_open/scene_000285", + "seed": 132850000, + "shared_state": "cap_open/scene_000285/shared_state.npz", + "video": "cap_open/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000285/front.json", + "scene_id": "cap_open/scene_000285", + "seed": 132850000, + "shared_state": "cap_open/scene_000285/shared_state.npz", + "video": "cap_open/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000285/right.json", + "scene_id": "cap_open/scene_000285", + "seed": 132850000, + "shared_state": "cap_open/scene_000285/shared_state.npz", + "video": "cap_open/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000286/left.json", + "scene_id": "cap_open/scene_000286", + "seed": 132860000, + "shared_state": "cap_open/scene_000286/shared_state.npz", + "video": "cap_open/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000286/front.json", + "scene_id": "cap_open/scene_000286", + "seed": 132860000, + "shared_state": "cap_open/scene_000286/shared_state.npz", + "video": "cap_open/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000286/right.json", + "scene_id": "cap_open/scene_000286", + "seed": 132860000, + "shared_state": "cap_open/scene_000286/shared_state.npz", + "video": "cap_open/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000287/left.json", + "scene_id": "cap_open/scene_000287", + "seed": 132870000, + "shared_state": "cap_open/scene_000287/shared_state.npz", + "video": "cap_open/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000287/front.json", + "scene_id": "cap_open/scene_000287", + "seed": 132870000, + "shared_state": "cap_open/scene_000287/shared_state.npz", + "video": "cap_open/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000287/right.json", + "scene_id": "cap_open/scene_000287", + "seed": 132870000, + "shared_state": "cap_open/scene_000287/shared_state.npz", + "video": "cap_open/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000288/left.json", + "scene_id": "cap_open/scene_000288", + "seed": 132880000, + "shared_state": "cap_open/scene_000288/shared_state.npz", + "video": "cap_open/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000288/front.json", + "scene_id": "cap_open/scene_000288", + "seed": 132880000, + "shared_state": "cap_open/scene_000288/shared_state.npz", + "video": "cap_open/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000288/right.json", + "scene_id": "cap_open/scene_000288", + "seed": 132880000, + "shared_state": "cap_open/scene_000288/shared_state.npz", + "video": "cap_open/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000289/left.json", + "scene_id": "cap_open/scene_000289", + "seed": 132890000, + "shared_state": "cap_open/scene_000289/shared_state.npz", + "video": "cap_open/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000289/front.json", + "scene_id": "cap_open/scene_000289", + "seed": 132890000, + "shared_state": "cap_open/scene_000289/shared_state.npz", + "video": "cap_open/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000289/right.json", + "scene_id": "cap_open/scene_000289", + "seed": 132890000, + "shared_state": "cap_open/scene_000289/shared_state.npz", + "video": "cap_open/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000290/left.json", + "scene_id": "cap_open/scene_000290", + "seed": 132900000, + "shared_state": "cap_open/scene_000290/shared_state.npz", + "video": "cap_open/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000290/front.json", + "scene_id": "cap_open/scene_000290", + "seed": 132900000, + "shared_state": "cap_open/scene_000290/shared_state.npz", + "video": "cap_open/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000290/right.json", + "scene_id": "cap_open/scene_000290", + "seed": 132900000, + "shared_state": "cap_open/scene_000290/shared_state.npz", + "video": "cap_open/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000291/left.json", + "scene_id": "cap_open/scene_000291", + "seed": 132910000, + "shared_state": "cap_open/scene_000291/shared_state.npz", + "video": "cap_open/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000291/front.json", + "scene_id": "cap_open/scene_000291", + "seed": 132910000, + "shared_state": "cap_open/scene_000291/shared_state.npz", + "video": "cap_open/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000291/right.json", + "scene_id": "cap_open/scene_000291", + "seed": 132910000, + "shared_state": "cap_open/scene_000291/shared_state.npz", + "video": "cap_open/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000292/left.json", + "scene_id": "cap_open/scene_000292", + "seed": 132920000, + "shared_state": "cap_open/scene_000292/shared_state.npz", + "video": "cap_open/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000292/front.json", + "scene_id": "cap_open/scene_000292", + "seed": 132920000, + "shared_state": "cap_open/scene_000292/shared_state.npz", + "video": "cap_open/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000292/right.json", + "scene_id": "cap_open/scene_000292", + "seed": 132920000, + "shared_state": "cap_open/scene_000292/shared_state.npz", + "video": "cap_open/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000293/left.json", + "scene_id": "cap_open/scene_000293", + "seed": 132930000, + "shared_state": "cap_open/scene_000293/shared_state.npz", + "video": "cap_open/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000293/front.json", + "scene_id": "cap_open/scene_000293", + "seed": 132930000, + "shared_state": "cap_open/scene_000293/shared_state.npz", + "video": "cap_open/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000293/right.json", + "scene_id": "cap_open/scene_000293", + "seed": 132930000, + "shared_state": "cap_open/scene_000293/shared_state.npz", + "video": "cap_open/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000294/left.json", + "scene_id": "cap_open/scene_000294", + "seed": 132940000, + "shared_state": "cap_open/scene_000294/shared_state.npz", + "video": "cap_open/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000294/front.json", + "scene_id": "cap_open/scene_000294", + "seed": 132940000, + "shared_state": "cap_open/scene_000294/shared_state.npz", + "video": "cap_open/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000294/right.json", + "scene_id": "cap_open/scene_000294", + "seed": 132940000, + "shared_state": "cap_open/scene_000294/shared_state.npz", + "video": "cap_open/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000295/left.json", + "scene_id": "cap_open/scene_000295", + "seed": 132950000, + "shared_state": "cap_open/scene_000295/shared_state.npz", + "video": "cap_open/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000295/front.json", + "scene_id": "cap_open/scene_000295", + "seed": 132950000, + "shared_state": "cap_open/scene_000295/shared_state.npz", + "video": "cap_open/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000295/right.json", + "scene_id": "cap_open/scene_000295", + "seed": 132950000, + "shared_state": "cap_open/scene_000295/shared_state.npz", + "video": "cap_open/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000296/left.json", + "scene_id": "cap_open/scene_000296", + "seed": 132960000, + "shared_state": "cap_open/scene_000296/shared_state.npz", + "video": "cap_open/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000296/front.json", + "scene_id": "cap_open/scene_000296", + "seed": 132960000, + "shared_state": "cap_open/scene_000296/shared_state.npz", + "video": "cap_open/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000296/right.json", + "scene_id": "cap_open/scene_000296", + "seed": 132960000, + "shared_state": "cap_open/scene_000296/shared_state.npz", + "video": "cap_open/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000297/left.json", + "scene_id": "cap_open/scene_000297", + "seed": 132970000, + "shared_state": "cap_open/scene_000297/shared_state.npz", + "video": "cap_open/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000297/front.json", + "scene_id": "cap_open/scene_000297", + "seed": 132970000, + "shared_state": "cap_open/scene_000297/shared_state.npz", + "video": "cap_open/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000297/right.json", + "scene_id": "cap_open/scene_000297", + "seed": 132970000, + "shared_state": "cap_open/scene_000297/shared_state.npz", + "video": "cap_open/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000298/left.json", + "scene_id": "cap_open/scene_000298", + "seed": 132980000, + "shared_state": "cap_open/scene_000298/shared_state.npz", + "video": "cap_open/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000298/front.json", + "scene_id": "cap_open/scene_000298", + "seed": 132980000, + "shared_state": "cap_open/scene_000298/shared_state.npz", + "video": "cap_open/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000298/right.json", + "scene_id": "cap_open/scene_000298", + "seed": 132980000, + "shared_state": "cap_open/scene_000298/shared_state.npz", + "video": "cap_open/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000299/left.json", + "scene_id": "cap_open/scene_000299", + "seed": 132990000, + "shared_state": "cap_open/scene_000299/shared_state.npz", + "video": "cap_open/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000299/front.json", + "scene_id": "cap_open/scene_000299", + "seed": 132990000, + "shared_state": "cap_open/scene_000299/shared_state.npz", + "video": "cap_open/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "cap_open", + "inherited": false, + "metadata": "cap_open/scene_000299/right.json", + "scene_id": "cap_open/scene_000299", + "seed": 132990000, + "shared_state": "cap_open/scene_000299/shared_state.npz", + "video": "cap_open/scene_000299/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000000/left.json", + "scene_id": "rack_flipped/scene_000000", + "seed": 27260911, + "shared_state": "rack_flipped/scene_000000/shared_state.npz", + "video": "rack_flipped/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000000/front.json", + "scene_id": "rack_flipped/scene_000000", + "seed": 27260911, + "shared_state": "rack_flipped/scene_000000/shared_state.npz", + "video": "rack_flipped/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000000/right.json", + "scene_id": "rack_flipped/scene_000000", + "seed": 27260911, + "shared_state": "rack_flipped/scene_000000/shared_state.npz", + "video": "rack_flipped/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000001/left.json", + "scene_id": "rack_flipped/scene_000001", + "seed": 27270910, + "shared_state": "rack_flipped/scene_000001/shared_state.npz", + "video": "rack_flipped/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000001/front.json", + "scene_id": "rack_flipped/scene_000001", + "seed": 27270910, + "shared_state": "rack_flipped/scene_000001/shared_state.npz", + "video": "rack_flipped/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000001/right.json", + "scene_id": "rack_flipped/scene_000001", + "seed": 27270910, + "shared_state": "rack_flipped/scene_000001/shared_state.npz", + "video": "rack_flipped/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000002/left.json", + "scene_id": "rack_flipped/scene_000002", + "seed": 27280909, + "shared_state": "rack_flipped/scene_000002/shared_state.npz", + "video": "rack_flipped/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000002/front.json", + "scene_id": "rack_flipped/scene_000002", + "seed": 27280909, + "shared_state": "rack_flipped/scene_000002/shared_state.npz", + "video": "rack_flipped/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000002/right.json", + "scene_id": "rack_flipped/scene_000002", + "seed": 27280909, + "shared_state": "rack_flipped/scene_000002/shared_state.npz", + "video": "rack_flipped/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000003/left.json", + "scene_id": "rack_flipped/scene_000003", + "seed": 27290918, + "shared_state": "rack_flipped/scene_000003/shared_state.npz", + "video": "rack_flipped/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000003/front.json", + "scene_id": "rack_flipped/scene_000003", + "seed": 27290918, + "shared_state": "rack_flipped/scene_000003/shared_state.npz", + "video": "rack_flipped/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000003/right.json", + "scene_id": "rack_flipped/scene_000003", + "seed": 27290918, + "shared_state": "rack_flipped/scene_000003/shared_state.npz", + "video": "rack_flipped/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000004/left.json", + "scene_id": "rack_flipped/scene_000004", + "seed": 27300923, + "shared_state": "rack_flipped/scene_000004/shared_state.npz", + "video": "rack_flipped/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000004/front.json", + "scene_id": "rack_flipped/scene_000004", + "seed": 27300923, + "shared_state": "rack_flipped/scene_000004/shared_state.npz", + "video": "rack_flipped/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000004/right.json", + "scene_id": "rack_flipped/scene_000004", + "seed": 27300923, + "shared_state": "rack_flipped/scene_000004/shared_state.npz", + "video": "rack_flipped/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000005/left.json", + "scene_id": "rack_flipped/scene_000005", + "seed": 27310912, + "shared_state": "rack_flipped/scene_000005/shared_state.npz", + "video": "rack_flipped/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000005/front.json", + "scene_id": "rack_flipped/scene_000005", + "seed": 27310912, + "shared_state": "rack_flipped/scene_000005/shared_state.npz", + "video": "rack_flipped/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000005/right.json", + "scene_id": "rack_flipped/scene_000005", + "seed": 27310912, + "shared_state": "rack_flipped/scene_000005/shared_state.npz", + "video": "rack_flipped/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000006/left.json", + "scene_id": "rack_flipped/scene_000006", + "seed": 27320910, + "shared_state": "rack_flipped/scene_000006/shared_state.npz", + "video": "rack_flipped/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000006/front.json", + "scene_id": "rack_flipped/scene_000006", + "seed": 27320910, + "shared_state": "rack_flipped/scene_000006/shared_state.npz", + "video": "rack_flipped/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000006/right.json", + "scene_id": "rack_flipped/scene_000006", + "seed": 27320910, + "shared_state": "rack_flipped/scene_000006/shared_state.npz", + "video": "rack_flipped/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000007/left.json", + "scene_id": "rack_flipped/scene_000007", + "seed": 27330911, + "shared_state": "rack_flipped/scene_000007/shared_state.npz", + "video": "rack_flipped/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000007/front.json", + "scene_id": "rack_flipped/scene_000007", + "seed": 27330911, + "shared_state": "rack_flipped/scene_000007/shared_state.npz", + "video": "rack_flipped/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000007/right.json", + "scene_id": "rack_flipped/scene_000007", + "seed": 27330911, + "shared_state": "rack_flipped/scene_000007/shared_state.npz", + "video": "rack_flipped/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000008/left.json", + "scene_id": "rack_flipped/scene_000008", + "seed": 27340911, + "shared_state": "rack_flipped/scene_000008/shared_state.npz", + "video": "rack_flipped/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000008/front.json", + "scene_id": "rack_flipped/scene_000008", + "seed": 27340911, + "shared_state": "rack_flipped/scene_000008/shared_state.npz", + "video": "rack_flipped/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000008/right.json", + "scene_id": "rack_flipped/scene_000008", + "seed": 27340911, + "shared_state": "rack_flipped/scene_000008/shared_state.npz", + "video": "rack_flipped/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000009/left.json", + "scene_id": "rack_flipped/scene_000009", + "seed": 27350910, + "shared_state": "rack_flipped/scene_000009/shared_state.npz", + "video": "rack_flipped/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000009/front.json", + "scene_id": "rack_flipped/scene_000009", + "seed": 27350910, + "shared_state": "rack_flipped/scene_000009/shared_state.npz", + "video": "rack_flipped/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000009/right.json", + "scene_id": "rack_flipped/scene_000009", + "seed": 27350910, + "shared_state": "rack_flipped/scene_000009/shared_state.npz", + "video": "rack_flipped/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000010/left.json", + "scene_id": "rack_flipped/scene_000010", + "seed": 27360914, + "shared_state": "rack_flipped/scene_000010/shared_state.npz", + "video": "rack_flipped/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000010/front.json", + "scene_id": "rack_flipped/scene_000010", + "seed": 27360914, + "shared_state": "rack_flipped/scene_000010/shared_state.npz", + "video": "rack_flipped/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000010/right.json", + "scene_id": "rack_flipped/scene_000010", + "seed": 27360914, + "shared_state": "rack_flipped/scene_000010/shared_state.npz", + "video": "rack_flipped/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000011/left.json", + "scene_id": "rack_flipped/scene_000011", + "seed": 27370912, + "shared_state": "rack_flipped/scene_000011/shared_state.npz", + "video": "rack_flipped/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000011/front.json", + "scene_id": "rack_flipped/scene_000011", + "seed": 27370912, + "shared_state": "rack_flipped/scene_000011/shared_state.npz", + "video": "rack_flipped/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000011/right.json", + "scene_id": "rack_flipped/scene_000011", + "seed": 27370912, + "shared_state": "rack_flipped/scene_000011/shared_state.npz", + "video": "rack_flipped/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000012/left.json", + "scene_id": "rack_flipped/scene_000012", + "seed": 27380910, + "shared_state": "rack_flipped/scene_000012/shared_state.npz", + "video": "rack_flipped/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000012/front.json", + "scene_id": "rack_flipped/scene_000012", + "seed": 27380910, + "shared_state": "rack_flipped/scene_000012/shared_state.npz", + "video": "rack_flipped/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000012/right.json", + "scene_id": "rack_flipped/scene_000012", + "seed": 27380910, + "shared_state": "rack_flipped/scene_000012/shared_state.npz", + "video": "rack_flipped/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000013/left.json", + "scene_id": "rack_flipped/scene_000013", + "seed": 27390911, + "shared_state": "rack_flipped/scene_000013/shared_state.npz", + "video": "rack_flipped/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000013/front.json", + "scene_id": "rack_flipped/scene_000013", + "seed": 27390911, + "shared_state": "rack_flipped/scene_000013/shared_state.npz", + "video": "rack_flipped/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000013/right.json", + "scene_id": "rack_flipped/scene_000013", + "seed": 27390911, + "shared_state": "rack_flipped/scene_000013/shared_state.npz", + "video": "rack_flipped/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000014/left.json", + "scene_id": "rack_flipped/scene_000014", + "seed": 27400913, + "shared_state": "rack_flipped/scene_000014/shared_state.npz", + "video": "rack_flipped/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000014/front.json", + "scene_id": "rack_flipped/scene_000014", + "seed": 27400913, + "shared_state": "rack_flipped/scene_000014/shared_state.npz", + "video": "rack_flipped/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000014/right.json", + "scene_id": "rack_flipped/scene_000014", + "seed": 27400913, + "shared_state": "rack_flipped/scene_000014/shared_state.npz", + "video": "rack_flipped/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000015/left.json", + "scene_id": "rack_flipped/scene_000015", + "seed": 27410909, + "shared_state": "rack_flipped/scene_000015/shared_state.npz", + "video": "rack_flipped/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000015/front.json", + "scene_id": "rack_flipped/scene_000015", + "seed": 27410909, + "shared_state": "rack_flipped/scene_000015/shared_state.npz", + "video": "rack_flipped/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000015/right.json", + "scene_id": "rack_flipped/scene_000015", + "seed": 27410909, + "shared_state": "rack_flipped/scene_000015/shared_state.npz", + "video": "rack_flipped/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000016/left.json", + "scene_id": "rack_flipped/scene_000016", + "seed": 27420911, + "shared_state": "rack_flipped/scene_000016/shared_state.npz", + "video": "rack_flipped/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000016/front.json", + "scene_id": "rack_flipped/scene_000016", + "seed": 27420911, + "shared_state": "rack_flipped/scene_000016/shared_state.npz", + "video": "rack_flipped/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000016/right.json", + "scene_id": "rack_flipped/scene_000016", + "seed": 27420911, + "shared_state": "rack_flipped/scene_000016/shared_state.npz", + "video": "rack_flipped/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000017/left.json", + "scene_id": "rack_flipped/scene_000017", + "seed": 27430911, + "shared_state": "rack_flipped/scene_000017/shared_state.npz", + "video": "rack_flipped/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000017/front.json", + "scene_id": "rack_flipped/scene_000017", + "seed": 27430911, + "shared_state": "rack_flipped/scene_000017/shared_state.npz", + "video": "rack_flipped/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000017/right.json", + "scene_id": "rack_flipped/scene_000017", + "seed": 27430911, + "shared_state": "rack_flipped/scene_000017/shared_state.npz", + "video": "rack_flipped/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000018/left.json", + "scene_id": "rack_flipped/scene_000018", + "seed": 27440909, + "shared_state": "rack_flipped/scene_000018/shared_state.npz", + "video": "rack_flipped/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000018/front.json", + "scene_id": "rack_flipped/scene_000018", + "seed": 27440909, + "shared_state": "rack_flipped/scene_000018/shared_state.npz", + "video": "rack_flipped/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000018/right.json", + "scene_id": "rack_flipped/scene_000018", + "seed": 27440909, + "shared_state": "rack_flipped/scene_000018/shared_state.npz", + "video": "rack_flipped/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000019/left.json", + "scene_id": "rack_flipped/scene_000019", + "seed": 27450909, + "shared_state": "rack_flipped/scene_000019/shared_state.npz", + "video": "rack_flipped/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000019/front.json", + "scene_id": "rack_flipped/scene_000019", + "seed": 27450909, + "shared_state": "rack_flipped/scene_000019/shared_state.npz", + "video": "rack_flipped/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000019/right.json", + "scene_id": "rack_flipped/scene_000019", + "seed": 27450909, + "shared_state": "rack_flipped/scene_000019/shared_state.npz", + "video": "rack_flipped/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000020/left.json", + "scene_id": "rack_flipped/scene_000020", + "seed": 27460911, + "shared_state": "rack_flipped/scene_000020/shared_state.npz", + "video": "rack_flipped/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000020/front.json", + "scene_id": "rack_flipped/scene_000020", + "seed": 27460911, + "shared_state": "rack_flipped/scene_000020/shared_state.npz", + "video": "rack_flipped/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000020/right.json", + "scene_id": "rack_flipped/scene_000020", + "seed": 27460911, + "shared_state": "rack_flipped/scene_000020/shared_state.npz", + "video": "rack_flipped/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000021/left.json", + "scene_id": "rack_flipped/scene_000021", + "seed": 27470911, + "shared_state": "rack_flipped/scene_000021/shared_state.npz", + "video": "rack_flipped/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000021/front.json", + "scene_id": "rack_flipped/scene_000021", + "seed": 27470911, + "shared_state": "rack_flipped/scene_000021/shared_state.npz", + "video": "rack_flipped/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000021/right.json", + "scene_id": "rack_flipped/scene_000021", + "seed": 27470911, + "shared_state": "rack_flipped/scene_000021/shared_state.npz", + "video": "rack_flipped/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000022/left.json", + "scene_id": "rack_flipped/scene_000022", + "seed": 27480913, + "shared_state": "rack_flipped/scene_000022/shared_state.npz", + "video": "rack_flipped/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000022/front.json", + "scene_id": "rack_flipped/scene_000022", + "seed": 27480913, + "shared_state": "rack_flipped/scene_000022/shared_state.npz", + "video": "rack_flipped/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000022/right.json", + "scene_id": "rack_flipped/scene_000022", + "seed": 27480913, + "shared_state": "rack_flipped/scene_000022/shared_state.npz", + "video": "rack_flipped/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000023/left.json", + "scene_id": "rack_flipped/scene_000023", + "seed": 27490910, + "shared_state": "rack_flipped/scene_000023/shared_state.npz", + "video": "rack_flipped/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000023/front.json", + "scene_id": "rack_flipped/scene_000023", + "seed": 27490910, + "shared_state": "rack_flipped/scene_000023/shared_state.npz", + "video": "rack_flipped/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000023/right.json", + "scene_id": "rack_flipped/scene_000023", + "seed": 27490910, + "shared_state": "rack_flipped/scene_000023/shared_state.npz", + "video": "rack_flipped/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000024/left.json", + "scene_id": "rack_flipped/scene_000024", + "seed": 27500912, + "shared_state": "rack_flipped/scene_000024/shared_state.npz", + "video": "rack_flipped/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000024/front.json", + "scene_id": "rack_flipped/scene_000024", + "seed": 27500912, + "shared_state": "rack_flipped/scene_000024/shared_state.npz", + "video": "rack_flipped/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000024/right.json", + "scene_id": "rack_flipped/scene_000024", + "seed": 27500912, + "shared_state": "rack_flipped/scene_000024/shared_state.npz", + "video": "rack_flipped/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000025/left.json", + "scene_id": "rack_flipped/scene_000025", + "seed": 27510915, + "shared_state": "rack_flipped/scene_000025/shared_state.npz", + "video": "rack_flipped/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000025/front.json", + "scene_id": "rack_flipped/scene_000025", + "seed": 27510915, + "shared_state": "rack_flipped/scene_000025/shared_state.npz", + "video": "rack_flipped/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000025/right.json", + "scene_id": "rack_flipped/scene_000025", + "seed": 27510915, + "shared_state": "rack_flipped/scene_000025/shared_state.npz", + "video": "rack_flipped/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000026/left.json", + "scene_id": "rack_flipped/scene_000026", + "seed": 27520910, + "shared_state": "rack_flipped/scene_000026/shared_state.npz", + "video": "rack_flipped/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000026/front.json", + "scene_id": "rack_flipped/scene_000026", + "seed": 27520910, + "shared_state": "rack_flipped/scene_000026/shared_state.npz", + "video": "rack_flipped/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000026/right.json", + "scene_id": "rack_flipped/scene_000026", + "seed": 27520910, + "shared_state": "rack_flipped/scene_000026/shared_state.npz", + "video": "rack_flipped/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000027/left.json", + "scene_id": "rack_flipped/scene_000027", + "seed": 27530910, + "shared_state": "rack_flipped/scene_000027/shared_state.npz", + "video": "rack_flipped/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000027/front.json", + "scene_id": "rack_flipped/scene_000027", + "seed": 27530910, + "shared_state": "rack_flipped/scene_000027/shared_state.npz", + "video": "rack_flipped/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000027/right.json", + "scene_id": "rack_flipped/scene_000027", + "seed": 27530910, + "shared_state": "rack_flipped/scene_000027/shared_state.npz", + "video": "rack_flipped/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000028/left.json", + "scene_id": "rack_flipped/scene_000028", + "seed": 27540909, + "shared_state": "rack_flipped/scene_000028/shared_state.npz", + "video": "rack_flipped/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000028/front.json", + "scene_id": "rack_flipped/scene_000028", + "seed": 27540909, + "shared_state": "rack_flipped/scene_000028/shared_state.npz", + "video": "rack_flipped/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000028/right.json", + "scene_id": "rack_flipped/scene_000028", + "seed": 27540909, + "shared_state": "rack_flipped/scene_000028/shared_state.npz", + "video": "rack_flipped/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000029/left.json", + "scene_id": "rack_flipped/scene_000029", + "seed": 27550909, + "shared_state": "rack_flipped/scene_000029/shared_state.npz", + "video": "rack_flipped/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000029/front.json", + "scene_id": "rack_flipped/scene_000029", + "seed": 27550909, + "shared_state": "rack_flipped/scene_000029/shared_state.npz", + "video": "rack_flipped/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000029/right.json", + "scene_id": "rack_flipped/scene_000029", + "seed": 27550909, + "shared_state": "rack_flipped/scene_000029/shared_state.npz", + "video": "rack_flipped/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000030/left.json", + "scene_id": "rack_flipped/scene_000030", + "seed": 27560909, + "shared_state": "rack_flipped/scene_000030/shared_state.npz", + "video": "rack_flipped/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000030/front.json", + "scene_id": "rack_flipped/scene_000030", + "seed": 27560909, + "shared_state": "rack_flipped/scene_000030/shared_state.npz", + "video": "rack_flipped/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000030/right.json", + "scene_id": "rack_flipped/scene_000030", + "seed": 27560909, + "shared_state": "rack_flipped/scene_000030/shared_state.npz", + "video": "rack_flipped/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000031/left.json", + "scene_id": "rack_flipped/scene_000031", + "seed": 27570911, + "shared_state": "rack_flipped/scene_000031/shared_state.npz", + "video": "rack_flipped/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000031/front.json", + "scene_id": "rack_flipped/scene_000031", + "seed": 27570911, + "shared_state": "rack_flipped/scene_000031/shared_state.npz", + "video": "rack_flipped/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000031/right.json", + "scene_id": "rack_flipped/scene_000031", + "seed": 27570911, + "shared_state": "rack_flipped/scene_000031/shared_state.npz", + "video": "rack_flipped/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000032/left.json", + "scene_id": "rack_flipped/scene_000032", + "seed": 27580909, + "shared_state": "rack_flipped/scene_000032/shared_state.npz", + "video": "rack_flipped/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000032/front.json", + "scene_id": "rack_flipped/scene_000032", + "seed": 27580909, + "shared_state": "rack_flipped/scene_000032/shared_state.npz", + "video": "rack_flipped/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000032/right.json", + "scene_id": "rack_flipped/scene_000032", + "seed": 27580909, + "shared_state": "rack_flipped/scene_000032/shared_state.npz", + "video": "rack_flipped/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000033/left.json", + "scene_id": "rack_flipped/scene_000033", + "seed": 27590911, + "shared_state": "rack_flipped/scene_000033/shared_state.npz", + "video": "rack_flipped/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000033/front.json", + "scene_id": "rack_flipped/scene_000033", + "seed": 27590911, + "shared_state": "rack_flipped/scene_000033/shared_state.npz", + "video": "rack_flipped/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000033/right.json", + "scene_id": "rack_flipped/scene_000033", + "seed": 27590911, + "shared_state": "rack_flipped/scene_000033/shared_state.npz", + "video": "rack_flipped/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000034/left.json", + "scene_id": "rack_flipped/scene_000034", + "seed": 27600909, + "shared_state": "rack_flipped/scene_000034/shared_state.npz", + "video": "rack_flipped/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000034/front.json", + "scene_id": "rack_flipped/scene_000034", + "seed": 27600909, + "shared_state": "rack_flipped/scene_000034/shared_state.npz", + "video": "rack_flipped/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000034/right.json", + "scene_id": "rack_flipped/scene_000034", + "seed": 27600909, + "shared_state": "rack_flipped/scene_000034/shared_state.npz", + "video": "rack_flipped/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000035/left.json", + "scene_id": "rack_flipped/scene_000035", + "seed": 27610909, + "shared_state": "rack_flipped/scene_000035/shared_state.npz", + "video": "rack_flipped/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000035/front.json", + "scene_id": "rack_flipped/scene_000035", + "seed": 27610909, + "shared_state": "rack_flipped/scene_000035/shared_state.npz", + "video": "rack_flipped/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000035/right.json", + "scene_id": "rack_flipped/scene_000035", + "seed": 27610909, + "shared_state": "rack_flipped/scene_000035/shared_state.npz", + "video": "rack_flipped/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000036/left.json", + "scene_id": "rack_flipped/scene_000036", + "seed": 27620910, + "shared_state": "rack_flipped/scene_000036/shared_state.npz", + "video": "rack_flipped/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000036/front.json", + "scene_id": "rack_flipped/scene_000036", + "seed": 27620910, + "shared_state": "rack_flipped/scene_000036/shared_state.npz", + "video": "rack_flipped/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000036/right.json", + "scene_id": "rack_flipped/scene_000036", + "seed": 27620910, + "shared_state": "rack_flipped/scene_000036/shared_state.npz", + "video": "rack_flipped/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000037/left.json", + "scene_id": "rack_flipped/scene_000037", + "seed": 27630911, + "shared_state": "rack_flipped/scene_000037/shared_state.npz", + "video": "rack_flipped/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000037/front.json", + "scene_id": "rack_flipped/scene_000037", + "seed": 27630911, + "shared_state": "rack_flipped/scene_000037/shared_state.npz", + "video": "rack_flipped/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000037/right.json", + "scene_id": "rack_flipped/scene_000037", + "seed": 27630911, + "shared_state": "rack_flipped/scene_000037/shared_state.npz", + "video": "rack_flipped/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000038/left.json", + "scene_id": "rack_flipped/scene_000038", + "seed": 27640909, + "shared_state": "rack_flipped/scene_000038/shared_state.npz", + "video": "rack_flipped/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000038/front.json", + "scene_id": "rack_flipped/scene_000038", + "seed": 27640909, + "shared_state": "rack_flipped/scene_000038/shared_state.npz", + "video": "rack_flipped/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000038/right.json", + "scene_id": "rack_flipped/scene_000038", + "seed": 27640909, + "shared_state": "rack_flipped/scene_000038/shared_state.npz", + "video": "rack_flipped/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000039/left.json", + "scene_id": "rack_flipped/scene_000039", + "seed": 27650909, + "shared_state": "rack_flipped/scene_000039/shared_state.npz", + "video": "rack_flipped/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000039/front.json", + "scene_id": "rack_flipped/scene_000039", + "seed": 27650909, + "shared_state": "rack_flipped/scene_000039/shared_state.npz", + "video": "rack_flipped/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000039/right.json", + "scene_id": "rack_flipped/scene_000039", + "seed": 27650909, + "shared_state": "rack_flipped/scene_000039/shared_state.npz", + "video": "rack_flipped/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000040/left.json", + "scene_id": "rack_flipped/scene_000040", + "seed": 27660911, + "shared_state": "rack_flipped/scene_000040/shared_state.npz", + "video": "rack_flipped/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000040/front.json", + "scene_id": "rack_flipped/scene_000040", + "seed": 27660911, + "shared_state": "rack_flipped/scene_000040/shared_state.npz", + "video": "rack_flipped/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000040/right.json", + "scene_id": "rack_flipped/scene_000040", + "seed": 27660911, + "shared_state": "rack_flipped/scene_000040/shared_state.npz", + "video": "rack_flipped/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000041/left.json", + "scene_id": "rack_flipped/scene_000041", + "seed": 27670909, + "shared_state": "rack_flipped/scene_000041/shared_state.npz", + "video": "rack_flipped/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000041/front.json", + "scene_id": "rack_flipped/scene_000041", + "seed": 27670909, + "shared_state": "rack_flipped/scene_000041/shared_state.npz", + "video": "rack_flipped/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000041/right.json", + "scene_id": "rack_flipped/scene_000041", + "seed": 27670909, + "shared_state": "rack_flipped/scene_000041/shared_state.npz", + "video": "rack_flipped/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000042/left.json", + "scene_id": "rack_flipped/scene_000042", + "seed": 27680910, + "shared_state": "rack_flipped/scene_000042/shared_state.npz", + "video": "rack_flipped/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000042/front.json", + "scene_id": "rack_flipped/scene_000042", + "seed": 27680910, + "shared_state": "rack_flipped/scene_000042/shared_state.npz", + "video": "rack_flipped/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000042/right.json", + "scene_id": "rack_flipped/scene_000042", + "seed": 27680910, + "shared_state": "rack_flipped/scene_000042/shared_state.npz", + "video": "rack_flipped/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000043/left.json", + "scene_id": "rack_flipped/scene_000043", + "seed": 27690911, + "shared_state": "rack_flipped/scene_000043/shared_state.npz", + "video": "rack_flipped/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000043/front.json", + "scene_id": "rack_flipped/scene_000043", + "seed": 27690911, + "shared_state": "rack_flipped/scene_000043/shared_state.npz", + "video": "rack_flipped/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000043/right.json", + "scene_id": "rack_flipped/scene_000043", + "seed": 27690911, + "shared_state": "rack_flipped/scene_000043/shared_state.npz", + "video": "rack_flipped/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000044/left.json", + "scene_id": "rack_flipped/scene_000044", + "seed": 27700917, + "shared_state": "rack_flipped/scene_000044/shared_state.npz", + "video": "rack_flipped/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000044/front.json", + "scene_id": "rack_flipped/scene_000044", + "seed": 27700917, + "shared_state": "rack_flipped/scene_000044/shared_state.npz", + "video": "rack_flipped/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000044/right.json", + "scene_id": "rack_flipped/scene_000044", + "seed": 27700917, + "shared_state": "rack_flipped/scene_000044/shared_state.npz", + "video": "rack_flipped/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000045/left.json", + "scene_id": "rack_flipped/scene_000045", + "seed": 27710910, + "shared_state": "rack_flipped/scene_000045/shared_state.npz", + "video": "rack_flipped/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000045/front.json", + "scene_id": "rack_flipped/scene_000045", + "seed": 27710910, + "shared_state": "rack_flipped/scene_000045/shared_state.npz", + "video": "rack_flipped/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000045/right.json", + "scene_id": "rack_flipped/scene_000045", + "seed": 27710910, + "shared_state": "rack_flipped/scene_000045/shared_state.npz", + "video": "rack_flipped/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000046/left.json", + "scene_id": "rack_flipped/scene_000046", + "seed": 27720910, + "shared_state": "rack_flipped/scene_000046/shared_state.npz", + "video": "rack_flipped/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000046/front.json", + "scene_id": "rack_flipped/scene_000046", + "seed": 27720910, + "shared_state": "rack_flipped/scene_000046/shared_state.npz", + "video": "rack_flipped/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000046/right.json", + "scene_id": "rack_flipped/scene_000046", + "seed": 27720910, + "shared_state": "rack_flipped/scene_000046/shared_state.npz", + "video": "rack_flipped/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000047/left.json", + "scene_id": "rack_flipped/scene_000047", + "seed": 27730913, + "shared_state": "rack_flipped/scene_000047/shared_state.npz", + "video": "rack_flipped/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000047/front.json", + "scene_id": "rack_flipped/scene_000047", + "seed": 27730913, + "shared_state": "rack_flipped/scene_000047/shared_state.npz", + "video": "rack_flipped/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000047/right.json", + "scene_id": "rack_flipped/scene_000047", + "seed": 27730913, + "shared_state": "rack_flipped/scene_000047/shared_state.npz", + "video": "rack_flipped/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000048/left.json", + "scene_id": "rack_flipped/scene_000048", + "seed": 27740911, + "shared_state": "rack_flipped/scene_000048/shared_state.npz", + "video": "rack_flipped/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000048/front.json", + "scene_id": "rack_flipped/scene_000048", + "seed": 27740911, + "shared_state": "rack_flipped/scene_000048/shared_state.npz", + "video": "rack_flipped/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000048/right.json", + "scene_id": "rack_flipped/scene_000048", + "seed": 27740911, + "shared_state": "rack_flipped/scene_000048/shared_state.npz", + "video": "rack_flipped/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000049/left.json", + "scene_id": "rack_flipped/scene_000049", + "seed": 27750919, + "shared_state": "rack_flipped/scene_000049/shared_state.npz", + "video": "rack_flipped/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000049/front.json", + "scene_id": "rack_flipped/scene_000049", + "seed": 27750919, + "shared_state": "rack_flipped/scene_000049/shared_state.npz", + "video": "rack_flipped/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000049/right.json", + "scene_id": "rack_flipped/scene_000049", + "seed": 27750919, + "shared_state": "rack_flipped/scene_000049/shared_state.npz", + "video": "rack_flipped/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000050/left.json", + "scene_id": "rack_flipped/scene_000050", + "seed": 27760909, + "shared_state": "rack_flipped/scene_000050/shared_state.npz", + "video": "rack_flipped/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000050/front.json", + "scene_id": "rack_flipped/scene_000050", + "seed": 27760909, + "shared_state": "rack_flipped/scene_000050/shared_state.npz", + "video": "rack_flipped/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000050/right.json", + "scene_id": "rack_flipped/scene_000050", + "seed": 27760909, + "shared_state": "rack_flipped/scene_000050/shared_state.npz", + "video": "rack_flipped/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000051/left.json", + "scene_id": "rack_flipped/scene_000051", + "seed": 27770912, + "shared_state": "rack_flipped/scene_000051/shared_state.npz", + "video": "rack_flipped/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000051/front.json", + "scene_id": "rack_flipped/scene_000051", + "seed": 27770912, + "shared_state": "rack_flipped/scene_000051/shared_state.npz", + "video": "rack_flipped/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000051/right.json", + "scene_id": "rack_flipped/scene_000051", + "seed": 27770912, + "shared_state": "rack_flipped/scene_000051/shared_state.npz", + "video": "rack_flipped/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000052/left.json", + "scene_id": "rack_flipped/scene_000052", + "seed": 27780910, + "shared_state": "rack_flipped/scene_000052/shared_state.npz", + "video": "rack_flipped/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000052/front.json", + "scene_id": "rack_flipped/scene_000052", + "seed": 27780910, + "shared_state": "rack_flipped/scene_000052/shared_state.npz", + "video": "rack_flipped/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000052/right.json", + "scene_id": "rack_flipped/scene_000052", + "seed": 27780910, + "shared_state": "rack_flipped/scene_000052/shared_state.npz", + "video": "rack_flipped/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000053/left.json", + "scene_id": "rack_flipped/scene_000053", + "seed": 27790911, + "shared_state": "rack_flipped/scene_000053/shared_state.npz", + "video": "rack_flipped/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000053/front.json", + "scene_id": "rack_flipped/scene_000053", + "seed": 27790911, + "shared_state": "rack_flipped/scene_000053/shared_state.npz", + "video": "rack_flipped/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000053/right.json", + "scene_id": "rack_flipped/scene_000053", + "seed": 27790911, + "shared_state": "rack_flipped/scene_000053/shared_state.npz", + "video": "rack_flipped/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000054/left.json", + "scene_id": "rack_flipped/scene_000054", + "seed": 27800910, + "shared_state": "rack_flipped/scene_000054/shared_state.npz", + "video": "rack_flipped/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000054/front.json", + "scene_id": "rack_flipped/scene_000054", + "seed": 27800910, + "shared_state": "rack_flipped/scene_000054/shared_state.npz", + "video": "rack_flipped/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000054/right.json", + "scene_id": "rack_flipped/scene_000054", + "seed": 27800910, + "shared_state": "rack_flipped/scene_000054/shared_state.npz", + "video": "rack_flipped/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000055/left.json", + "scene_id": "rack_flipped/scene_000055", + "seed": 27810910, + "shared_state": "rack_flipped/scene_000055/shared_state.npz", + "video": "rack_flipped/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000055/front.json", + "scene_id": "rack_flipped/scene_000055", + "seed": 27810910, + "shared_state": "rack_flipped/scene_000055/shared_state.npz", + "video": "rack_flipped/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000055/right.json", + "scene_id": "rack_flipped/scene_000055", + "seed": 27810910, + "shared_state": "rack_flipped/scene_000055/shared_state.npz", + "video": "rack_flipped/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000056/left.json", + "scene_id": "rack_flipped/scene_000056", + "seed": 27820909, + "shared_state": "rack_flipped/scene_000056/shared_state.npz", + "video": "rack_flipped/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000056/front.json", + "scene_id": "rack_flipped/scene_000056", + "seed": 27820909, + "shared_state": "rack_flipped/scene_000056/shared_state.npz", + "video": "rack_flipped/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000056/right.json", + "scene_id": "rack_flipped/scene_000056", + "seed": 27820909, + "shared_state": "rack_flipped/scene_000056/shared_state.npz", + "video": "rack_flipped/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000057/left.json", + "scene_id": "rack_flipped/scene_000057", + "seed": 27830909, + "shared_state": "rack_flipped/scene_000057/shared_state.npz", + "video": "rack_flipped/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000057/front.json", + "scene_id": "rack_flipped/scene_000057", + "seed": 27830909, + "shared_state": "rack_flipped/scene_000057/shared_state.npz", + "video": "rack_flipped/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000057/right.json", + "scene_id": "rack_flipped/scene_000057", + "seed": 27830909, + "shared_state": "rack_flipped/scene_000057/shared_state.npz", + "video": "rack_flipped/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000058/left.json", + "scene_id": "rack_flipped/scene_000058", + "seed": 27840909, + "shared_state": "rack_flipped/scene_000058/shared_state.npz", + "video": "rack_flipped/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000058/front.json", + "scene_id": "rack_flipped/scene_000058", + "seed": 27840909, + "shared_state": "rack_flipped/scene_000058/shared_state.npz", + "video": "rack_flipped/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000058/right.json", + "scene_id": "rack_flipped/scene_000058", + "seed": 27840909, + "shared_state": "rack_flipped/scene_000058/shared_state.npz", + "video": "rack_flipped/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000059/left.json", + "scene_id": "rack_flipped/scene_000059", + "seed": 27850911, + "shared_state": "rack_flipped/scene_000059/shared_state.npz", + "video": "rack_flipped/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000059/front.json", + "scene_id": "rack_flipped/scene_000059", + "seed": 27850911, + "shared_state": "rack_flipped/scene_000059/shared_state.npz", + "video": "rack_flipped/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000059/right.json", + "scene_id": "rack_flipped/scene_000059", + "seed": 27850911, + "shared_state": "rack_flipped/scene_000059/shared_state.npz", + "video": "rack_flipped/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000060/left.json", + "scene_id": "rack_flipped/scene_000060", + "seed": 27860909, + "shared_state": "rack_flipped/scene_000060/shared_state.npz", + "video": "rack_flipped/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000060/front.json", + "scene_id": "rack_flipped/scene_000060", + "seed": 27860909, + "shared_state": "rack_flipped/scene_000060/shared_state.npz", + "video": "rack_flipped/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000060/right.json", + "scene_id": "rack_flipped/scene_000060", + "seed": 27860909, + "shared_state": "rack_flipped/scene_000060/shared_state.npz", + "video": "rack_flipped/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000061/left.json", + "scene_id": "rack_flipped/scene_000061", + "seed": 27870909, + "shared_state": "rack_flipped/scene_000061/shared_state.npz", + "video": "rack_flipped/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000061/front.json", + "scene_id": "rack_flipped/scene_000061", + "seed": 27870909, + "shared_state": "rack_flipped/scene_000061/shared_state.npz", + "video": "rack_flipped/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000061/right.json", + "scene_id": "rack_flipped/scene_000061", + "seed": 27870909, + "shared_state": "rack_flipped/scene_000061/shared_state.npz", + "video": "rack_flipped/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000062/left.json", + "scene_id": "rack_flipped/scene_000062", + "seed": 27880909, + "shared_state": "rack_flipped/scene_000062/shared_state.npz", + "video": "rack_flipped/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000062/front.json", + "scene_id": "rack_flipped/scene_000062", + "seed": 27880909, + "shared_state": "rack_flipped/scene_000062/shared_state.npz", + "video": "rack_flipped/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000062/right.json", + "scene_id": "rack_flipped/scene_000062", + "seed": 27880909, + "shared_state": "rack_flipped/scene_000062/shared_state.npz", + "video": "rack_flipped/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000063/left.json", + "scene_id": "rack_flipped/scene_000063", + "seed": 27890917, + "shared_state": "rack_flipped/scene_000063/shared_state.npz", + "video": "rack_flipped/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000063/front.json", + "scene_id": "rack_flipped/scene_000063", + "seed": 27890917, + "shared_state": "rack_flipped/scene_000063/shared_state.npz", + "video": "rack_flipped/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000063/right.json", + "scene_id": "rack_flipped/scene_000063", + "seed": 27890917, + "shared_state": "rack_flipped/scene_000063/shared_state.npz", + "video": "rack_flipped/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000064/left.json", + "scene_id": "rack_flipped/scene_000064", + "seed": 27900912, + "shared_state": "rack_flipped/scene_000064/shared_state.npz", + "video": "rack_flipped/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000064/front.json", + "scene_id": "rack_flipped/scene_000064", + "seed": 27900912, + "shared_state": "rack_flipped/scene_000064/shared_state.npz", + "video": "rack_flipped/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000064/right.json", + "scene_id": "rack_flipped/scene_000064", + "seed": 27900912, + "shared_state": "rack_flipped/scene_000064/shared_state.npz", + "video": "rack_flipped/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000065/left.json", + "scene_id": "rack_flipped/scene_000065", + "seed": 27910910, + "shared_state": "rack_flipped/scene_000065/shared_state.npz", + "video": "rack_flipped/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000065/front.json", + "scene_id": "rack_flipped/scene_000065", + "seed": 27910910, + "shared_state": "rack_flipped/scene_000065/shared_state.npz", + "video": "rack_flipped/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000065/right.json", + "scene_id": "rack_flipped/scene_000065", + "seed": 27910910, + "shared_state": "rack_flipped/scene_000065/shared_state.npz", + "video": "rack_flipped/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000066/left.json", + "scene_id": "rack_flipped/scene_000066", + "seed": 27920911, + "shared_state": "rack_flipped/scene_000066/shared_state.npz", + "video": "rack_flipped/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000066/front.json", + "scene_id": "rack_flipped/scene_000066", + "seed": 27920911, + "shared_state": "rack_flipped/scene_000066/shared_state.npz", + "video": "rack_flipped/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000066/right.json", + "scene_id": "rack_flipped/scene_000066", + "seed": 27920911, + "shared_state": "rack_flipped/scene_000066/shared_state.npz", + "video": "rack_flipped/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000067/left.json", + "scene_id": "rack_flipped/scene_000067", + "seed": 27930909, + "shared_state": "rack_flipped/scene_000067/shared_state.npz", + "video": "rack_flipped/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000067/front.json", + "scene_id": "rack_flipped/scene_000067", + "seed": 27930909, + "shared_state": "rack_flipped/scene_000067/shared_state.npz", + "video": "rack_flipped/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000067/right.json", + "scene_id": "rack_flipped/scene_000067", + "seed": 27930909, + "shared_state": "rack_flipped/scene_000067/shared_state.npz", + "video": "rack_flipped/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000068/left.json", + "scene_id": "rack_flipped/scene_000068", + "seed": 27940909, + "shared_state": "rack_flipped/scene_000068/shared_state.npz", + "video": "rack_flipped/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000068/front.json", + "scene_id": "rack_flipped/scene_000068", + "seed": 27940909, + "shared_state": "rack_flipped/scene_000068/shared_state.npz", + "video": "rack_flipped/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000068/right.json", + "scene_id": "rack_flipped/scene_000068", + "seed": 27940909, + "shared_state": "rack_flipped/scene_000068/shared_state.npz", + "video": "rack_flipped/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000069/left.json", + "scene_id": "rack_flipped/scene_000069", + "seed": 27950911, + "shared_state": "rack_flipped/scene_000069/shared_state.npz", + "video": "rack_flipped/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000069/front.json", + "scene_id": "rack_flipped/scene_000069", + "seed": 27950911, + "shared_state": "rack_flipped/scene_000069/shared_state.npz", + "video": "rack_flipped/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000069/right.json", + "scene_id": "rack_flipped/scene_000069", + "seed": 27950911, + "shared_state": "rack_flipped/scene_000069/shared_state.npz", + "video": "rack_flipped/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000070/left.json", + "scene_id": "rack_flipped/scene_000070", + "seed": 27960912, + "shared_state": "rack_flipped/scene_000070/shared_state.npz", + "video": "rack_flipped/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000070/front.json", + "scene_id": "rack_flipped/scene_000070", + "seed": 27960912, + "shared_state": "rack_flipped/scene_000070/shared_state.npz", + "video": "rack_flipped/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000070/right.json", + "scene_id": "rack_flipped/scene_000070", + "seed": 27960912, + "shared_state": "rack_flipped/scene_000070/shared_state.npz", + "video": "rack_flipped/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000071/left.json", + "scene_id": "rack_flipped/scene_000071", + "seed": 27970909, + "shared_state": "rack_flipped/scene_000071/shared_state.npz", + "video": "rack_flipped/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000071/front.json", + "scene_id": "rack_flipped/scene_000071", + "seed": 27970909, + "shared_state": "rack_flipped/scene_000071/shared_state.npz", + "video": "rack_flipped/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000071/right.json", + "scene_id": "rack_flipped/scene_000071", + "seed": 27970909, + "shared_state": "rack_flipped/scene_000071/shared_state.npz", + "video": "rack_flipped/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000072/left.json", + "scene_id": "rack_flipped/scene_000072", + "seed": 27980909, + "shared_state": "rack_flipped/scene_000072/shared_state.npz", + "video": "rack_flipped/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000072/front.json", + "scene_id": "rack_flipped/scene_000072", + "seed": 27980909, + "shared_state": "rack_flipped/scene_000072/shared_state.npz", + "video": "rack_flipped/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000072/right.json", + "scene_id": "rack_flipped/scene_000072", + "seed": 27980909, + "shared_state": "rack_flipped/scene_000072/shared_state.npz", + "video": "rack_flipped/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000073/left.json", + "scene_id": "rack_flipped/scene_000073", + "seed": 27990909, + "shared_state": "rack_flipped/scene_000073/shared_state.npz", + "video": "rack_flipped/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000073/front.json", + "scene_id": "rack_flipped/scene_000073", + "seed": 27990909, + "shared_state": "rack_flipped/scene_000073/shared_state.npz", + "video": "rack_flipped/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000073/right.json", + "scene_id": "rack_flipped/scene_000073", + "seed": 27990909, + "shared_state": "rack_flipped/scene_000073/shared_state.npz", + "video": "rack_flipped/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000074/left.json", + "scene_id": "rack_flipped/scene_000074", + "seed": 28000909, + "shared_state": "rack_flipped/scene_000074/shared_state.npz", + "video": "rack_flipped/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000074/front.json", + "scene_id": "rack_flipped/scene_000074", + "seed": 28000909, + "shared_state": "rack_flipped/scene_000074/shared_state.npz", + "video": "rack_flipped/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000074/right.json", + "scene_id": "rack_flipped/scene_000074", + "seed": 28000909, + "shared_state": "rack_flipped/scene_000074/shared_state.npz", + "video": "rack_flipped/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000075/left.json", + "scene_id": "rack_flipped/scene_000075", + "seed": 28010909, + "shared_state": "rack_flipped/scene_000075/shared_state.npz", + "video": "rack_flipped/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000075/front.json", + "scene_id": "rack_flipped/scene_000075", + "seed": 28010909, + "shared_state": "rack_flipped/scene_000075/shared_state.npz", + "video": "rack_flipped/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000075/right.json", + "scene_id": "rack_flipped/scene_000075", + "seed": 28010909, + "shared_state": "rack_flipped/scene_000075/shared_state.npz", + "video": "rack_flipped/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000076/left.json", + "scene_id": "rack_flipped/scene_000076", + "seed": 28020912, + "shared_state": "rack_flipped/scene_000076/shared_state.npz", + "video": "rack_flipped/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000076/front.json", + "scene_id": "rack_flipped/scene_000076", + "seed": 28020912, + "shared_state": "rack_flipped/scene_000076/shared_state.npz", + "video": "rack_flipped/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000076/right.json", + "scene_id": "rack_flipped/scene_000076", + "seed": 28020912, + "shared_state": "rack_flipped/scene_000076/shared_state.npz", + "video": "rack_flipped/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000077/left.json", + "scene_id": "rack_flipped/scene_000077", + "seed": 28030909, + "shared_state": "rack_flipped/scene_000077/shared_state.npz", + "video": "rack_flipped/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000077/front.json", + "scene_id": "rack_flipped/scene_000077", + "seed": 28030909, + "shared_state": "rack_flipped/scene_000077/shared_state.npz", + "video": "rack_flipped/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000077/right.json", + "scene_id": "rack_flipped/scene_000077", + "seed": 28030909, + "shared_state": "rack_flipped/scene_000077/shared_state.npz", + "video": "rack_flipped/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000078/left.json", + "scene_id": "rack_flipped/scene_000078", + "seed": 28040910, + "shared_state": "rack_flipped/scene_000078/shared_state.npz", + "video": "rack_flipped/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000078/front.json", + "scene_id": "rack_flipped/scene_000078", + "seed": 28040910, + "shared_state": "rack_flipped/scene_000078/shared_state.npz", + "video": "rack_flipped/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000078/right.json", + "scene_id": "rack_flipped/scene_000078", + "seed": 28040910, + "shared_state": "rack_flipped/scene_000078/shared_state.npz", + "video": "rack_flipped/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000079/left.json", + "scene_id": "rack_flipped/scene_000079", + "seed": 28050912, + "shared_state": "rack_flipped/scene_000079/shared_state.npz", + "video": "rack_flipped/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000079/front.json", + "scene_id": "rack_flipped/scene_000079", + "seed": 28050912, + "shared_state": "rack_flipped/scene_000079/shared_state.npz", + "video": "rack_flipped/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000079/right.json", + "scene_id": "rack_flipped/scene_000079", + "seed": 28050912, + "shared_state": "rack_flipped/scene_000079/shared_state.npz", + "video": "rack_flipped/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000080/left.json", + "scene_id": "rack_flipped/scene_000080", + "seed": 28060909, + "shared_state": "rack_flipped/scene_000080/shared_state.npz", + "video": "rack_flipped/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000080/front.json", + "scene_id": "rack_flipped/scene_000080", + "seed": 28060909, + "shared_state": "rack_flipped/scene_000080/shared_state.npz", + "video": "rack_flipped/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000080/right.json", + "scene_id": "rack_flipped/scene_000080", + "seed": 28060909, + "shared_state": "rack_flipped/scene_000080/shared_state.npz", + "video": "rack_flipped/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000081/left.json", + "scene_id": "rack_flipped/scene_000081", + "seed": 28070911, + "shared_state": "rack_flipped/scene_000081/shared_state.npz", + "video": "rack_flipped/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000081/front.json", + "scene_id": "rack_flipped/scene_000081", + "seed": 28070911, + "shared_state": "rack_flipped/scene_000081/shared_state.npz", + "video": "rack_flipped/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000081/right.json", + "scene_id": "rack_flipped/scene_000081", + "seed": 28070911, + "shared_state": "rack_flipped/scene_000081/shared_state.npz", + "video": "rack_flipped/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000082/left.json", + "scene_id": "rack_flipped/scene_000082", + "seed": 28080909, + "shared_state": "rack_flipped/scene_000082/shared_state.npz", + "video": "rack_flipped/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000082/front.json", + "scene_id": "rack_flipped/scene_000082", + "seed": 28080909, + "shared_state": "rack_flipped/scene_000082/shared_state.npz", + "video": "rack_flipped/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000082/right.json", + "scene_id": "rack_flipped/scene_000082", + "seed": 28080909, + "shared_state": "rack_flipped/scene_000082/shared_state.npz", + "video": "rack_flipped/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000083/left.json", + "scene_id": "rack_flipped/scene_000083", + "seed": 28090909, + "shared_state": "rack_flipped/scene_000083/shared_state.npz", + "video": "rack_flipped/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000083/front.json", + "scene_id": "rack_flipped/scene_000083", + "seed": 28090909, + "shared_state": "rack_flipped/scene_000083/shared_state.npz", + "video": "rack_flipped/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000083/right.json", + "scene_id": "rack_flipped/scene_000083", + "seed": 28090909, + "shared_state": "rack_flipped/scene_000083/shared_state.npz", + "video": "rack_flipped/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000084/left.json", + "scene_id": "rack_flipped/scene_000084", + "seed": 28100909, + "shared_state": "rack_flipped/scene_000084/shared_state.npz", + "video": "rack_flipped/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000084/front.json", + "scene_id": "rack_flipped/scene_000084", + "seed": 28100909, + "shared_state": "rack_flipped/scene_000084/shared_state.npz", + "video": "rack_flipped/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000084/right.json", + "scene_id": "rack_flipped/scene_000084", + "seed": 28100909, + "shared_state": "rack_flipped/scene_000084/shared_state.npz", + "video": "rack_flipped/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000085/left.json", + "scene_id": "rack_flipped/scene_000085", + "seed": 28110910, + "shared_state": "rack_flipped/scene_000085/shared_state.npz", + "video": "rack_flipped/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000085/front.json", + "scene_id": "rack_flipped/scene_000085", + "seed": 28110910, + "shared_state": "rack_flipped/scene_000085/shared_state.npz", + "video": "rack_flipped/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000085/right.json", + "scene_id": "rack_flipped/scene_000085", + "seed": 28110910, + "shared_state": "rack_flipped/scene_000085/shared_state.npz", + "video": "rack_flipped/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000086/left.json", + "scene_id": "rack_flipped/scene_000086", + "seed": 28120912, + "shared_state": "rack_flipped/scene_000086/shared_state.npz", + "video": "rack_flipped/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000086/front.json", + "scene_id": "rack_flipped/scene_000086", + "seed": 28120912, + "shared_state": "rack_flipped/scene_000086/shared_state.npz", + "video": "rack_flipped/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000086/right.json", + "scene_id": "rack_flipped/scene_000086", + "seed": 28120912, + "shared_state": "rack_flipped/scene_000086/shared_state.npz", + "video": "rack_flipped/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000087/left.json", + "scene_id": "rack_flipped/scene_000087", + "seed": 28130909, + "shared_state": "rack_flipped/scene_000087/shared_state.npz", + "video": "rack_flipped/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000087/front.json", + "scene_id": "rack_flipped/scene_000087", + "seed": 28130909, + "shared_state": "rack_flipped/scene_000087/shared_state.npz", + "video": "rack_flipped/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000087/right.json", + "scene_id": "rack_flipped/scene_000087", + "seed": 28130909, + "shared_state": "rack_flipped/scene_000087/shared_state.npz", + "video": "rack_flipped/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000088/left.json", + "scene_id": "rack_flipped/scene_000088", + "seed": 28140911, + "shared_state": "rack_flipped/scene_000088/shared_state.npz", + "video": "rack_flipped/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000088/front.json", + "scene_id": "rack_flipped/scene_000088", + "seed": 28140911, + "shared_state": "rack_flipped/scene_000088/shared_state.npz", + "video": "rack_flipped/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000088/right.json", + "scene_id": "rack_flipped/scene_000088", + "seed": 28140911, + "shared_state": "rack_flipped/scene_000088/shared_state.npz", + "video": "rack_flipped/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000089/left.json", + "scene_id": "rack_flipped/scene_000089", + "seed": 28150909, + "shared_state": "rack_flipped/scene_000089/shared_state.npz", + "video": "rack_flipped/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000089/front.json", + "scene_id": "rack_flipped/scene_000089", + "seed": 28150909, + "shared_state": "rack_flipped/scene_000089/shared_state.npz", + "video": "rack_flipped/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000089/right.json", + "scene_id": "rack_flipped/scene_000089", + "seed": 28150909, + "shared_state": "rack_flipped/scene_000089/shared_state.npz", + "video": "rack_flipped/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000090/left.json", + "scene_id": "rack_flipped/scene_000090", + "seed": 28160913, + "shared_state": "rack_flipped/scene_000090/shared_state.npz", + "video": "rack_flipped/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000090/front.json", + "scene_id": "rack_flipped/scene_000090", + "seed": 28160913, + "shared_state": "rack_flipped/scene_000090/shared_state.npz", + "video": "rack_flipped/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000090/right.json", + "scene_id": "rack_flipped/scene_000090", + "seed": 28160913, + "shared_state": "rack_flipped/scene_000090/shared_state.npz", + "video": "rack_flipped/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000091/left.json", + "scene_id": "rack_flipped/scene_000091", + "seed": 28170912, + "shared_state": "rack_flipped/scene_000091/shared_state.npz", + "video": "rack_flipped/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000091/front.json", + "scene_id": "rack_flipped/scene_000091", + "seed": 28170912, + "shared_state": "rack_flipped/scene_000091/shared_state.npz", + "video": "rack_flipped/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000091/right.json", + "scene_id": "rack_flipped/scene_000091", + "seed": 28170912, + "shared_state": "rack_flipped/scene_000091/shared_state.npz", + "video": "rack_flipped/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000092/left.json", + "scene_id": "rack_flipped/scene_000092", + "seed": 28180911, + "shared_state": "rack_flipped/scene_000092/shared_state.npz", + "video": "rack_flipped/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000092/front.json", + "scene_id": "rack_flipped/scene_000092", + "seed": 28180911, + "shared_state": "rack_flipped/scene_000092/shared_state.npz", + "video": "rack_flipped/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000092/right.json", + "scene_id": "rack_flipped/scene_000092", + "seed": 28180911, + "shared_state": "rack_flipped/scene_000092/shared_state.npz", + "video": "rack_flipped/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000093/left.json", + "scene_id": "rack_flipped/scene_000093", + "seed": 28190912, + "shared_state": "rack_flipped/scene_000093/shared_state.npz", + "video": "rack_flipped/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000093/front.json", + "scene_id": "rack_flipped/scene_000093", + "seed": 28190912, + "shared_state": "rack_flipped/scene_000093/shared_state.npz", + "video": "rack_flipped/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000093/right.json", + "scene_id": "rack_flipped/scene_000093", + "seed": 28190912, + "shared_state": "rack_flipped/scene_000093/shared_state.npz", + "video": "rack_flipped/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000094/left.json", + "scene_id": "rack_flipped/scene_000094", + "seed": 28200909, + "shared_state": "rack_flipped/scene_000094/shared_state.npz", + "video": "rack_flipped/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000094/front.json", + "scene_id": "rack_flipped/scene_000094", + "seed": 28200909, + "shared_state": "rack_flipped/scene_000094/shared_state.npz", + "video": "rack_flipped/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000094/right.json", + "scene_id": "rack_flipped/scene_000094", + "seed": 28200909, + "shared_state": "rack_flipped/scene_000094/shared_state.npz", + "video": "rack_flipped/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000095/left.json", + "scene_id": "rack_flipped/scene_000095", + "seed": 28210910, + "shared_state": "rack_flipped/scene_000095/shared_state.npz", + "video": "rack_flipped/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000095/front.json", + "scene_id": "rack_flipped/scene_000095", + "seed": 28210910, + "shared_state": "rack_flipped/scene_000095/shared_state.npz", + "video": "rack_flipped/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000095/right.json", + "scene_id": "rack_flipped/scene_000095", + "seed": 28210910, + "shared_state": "rack_flipped/scene_000095/shared_state.npz", + "video": "rack_flipped/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000096/left.json", + "scene_id": "rack_flipped/scene_000096", + "seed": 28220909, + "shared_state": "rack_flipped/scene_000096/shared_state.npz", + "video": "rack_flipped/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000096/front.json", + "scene_id": "rack_flipped/scene_000096", + "seed": 28220909, + "shared_state": "rack_flipped/scene_000096/shared_state.npz", + "video": "rack_flipped/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000096/right.json", + "scene_id": "rack_flipped/scene_000096", + "seed": 28220909, + "shared_state": "rack_flipped/scene_000096/shared_state.npz", + "video": "rack_flipped/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000097/left.json", + "scene_id": "rack_flipped/scene_000097", + "seed": 28230909, + "shared_state": "rack_flipped/scene_000097/shared_state.npz", + "video": "rack_flipped/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000097/front.json", + "scene_id": "rack_flipped/scene_000097", + "seed": 28230909, + "shared_state": "rack_flipped/scene_000097/shared_state.npz", + "video": "rack_flipped/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000097/right.json", + "scene_id": "rack_flipped/scene_000097", + "seed": 28230909, + "shared_state": "rack_flipped/scene_000097/shared_state.npz", + "video": "rack_flipped/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000098/left.json", + "scene_id": "rack_flipped/scene_000098", + "seed": 28240909, + "shared_state": "rack_flipped/scene_000098/shared_state.npz", + "video": "rack_flipped/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000098/front.json", + "scene_id": "rack_flipped/scene_000098", + "seed": 28240909, + "shared_state": "rack_flipped/scene_000098/shared_state.npz", + "video": "rack_flipped/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000098/right.json", + "scene_id": "rack_flipped/scene_000098", + "seed": 28240909, + "shared_state": "rack_flipped/scene_000098/shared_state.npz", + "video": "rack_flipped/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000099/left.json", + "scene_id": "rack_flipped/scene_000099", + "seed": 28250911, + "shared_state": "rack_flipped/scene_000099/shared_state.npz", + "video": "rack_flipped/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000099/front.json", + "scene_id": "rack_flipped/scene_000099", + "seed": 28250911, + "shared_state": "rack_flipped/scene_000099/shared_state.npz", + "video": "rack_flipped/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": true, + "metadata": "rack_flipped/scene_000099/right.json", + "scene_id": "rack_flipped/scene_000099", + "seed": 28250911, + "shared_state": "rack_flipped/scene_000099/shared_state.npz", + "video": "rack_flipped/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000100/left.json", + "scene_id": "rack_flipped/scene_000100", + "seed": 171000004, + "shared_state": "rack_flipped/scene_000100/shared_state.npz", + "video": "rack_flipped/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000100/front.json", + "scene_id": "rack_flipped/scene_000100", + "seed": 171000004, + "shared_state": "rack_flipped/scene_000100/shared_state.npz", + "video": "rack_flipped/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000100/right.json", + "scene_id": "rack_flipped/scene_000100", + "seed": 171000004, + "shared_state": "rack_flipped/scene_000100/shared_state.npz", + "video": "rack_flipped/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000101/left.json", + "scene_id": "rack_flipped/scene_000101", + "seed": 171010001, + "shared_state": "rack_flipped/scene_000101/shared_state.npz", + "video": "rack_flipped/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000101/front.json", + "scene_id": "rack_flipped/scene_000101", + "seed": 171010001, + "shared_state": "rack_flipped/scene_000101/shared_state.npz", + "video": "rack_flipped/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000101/right.json", + "scene_id": "rack_flipped/scene_000101", + "seed": 171010001, + "shared_state": "rack_flipped/scene_000101/shared_state.npz", + "video": "rack_flipped/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000102/left.json", + "scene_id": "rack_flipped/scene_000102", + "seed": 171020001, + "shared_state": "rack_flipped/scene_000102/shared_state.npz", + "video": "rack_flipped/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000102/front.json", + "scene_id": "rack_flipped/scene_000102", + "seed": 171020001, + "shared_state": "rack_flipped/scene_000102/shared_state.npz", + "video": "rack_flipped/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000102/right.json", + "scene_id": "rack_flipped/scene_000102", + "seed": 171020001, + "shared_state": "rack_flipped/scene_000102/shared_state.npz", + "video": "rack_flipped/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000103/left.json", + "scene_id": "rack_flipped/scene_000103", + "seed": 171030001, + "shared_state": "rack_flipped/scene_000103/shared_state.npz", + "video": "rack_flipped/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000103/front.json", + "scene_id": "rack_flipped/scene_000103", + "seed": 171030001, + "shared_state": "rack_flipped/scene_000103/shared_state.npz", + "video": "rack_flipped/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000103/right.json", + "scene_id": "rack_flipped/scene_000103", + "seed": 171030001, + "shared_state": "rack_flipped/scene_000103/shared_state.npz", + "video": "rack_flipped/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000104/left.json", + "scene_id": "rack_flipped/scene_000104", + "seed": 171040000, + "shared_state": "rack_flipped/scene_000104/shared_state.npz", + "video": "rack_flipped/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000104/front.json", + "scene_id": "rack_flipped/scene_000104", + "seed": 171040000, + "shared_state": "rack_flipped/scene_000104/shared_state.npz", + "video": "rack_flipped/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000104/right.json", + "scene_id": "rack_flipped/scene_000104", + "seed": 171040000, + "shared_state": "rack_flipped/scene_000104/shared_state.npz", + "video": "rack_flipped/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000105/left.json", + "scene_id": "rack_flipped/scene_000105", + "seed": 171050000, + "shared_state": "rack_flipped/scene_000105/shared_state.npz", + "video": "rack_flipped/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000105/front.json", + "scene_id": "rack_flipped/scene_000105", + "seed": 171050000, + "shared_state": "rack_flipped/scene_000105/shared_state.npz", + "video": "rack_flipped/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000105/right.json", + "scene_id": "rack_flipped/scene_000105", + "seed": 171050000, + "shared_state": "rack_flipped/scene_000105/shared_state.npz", + "video": "rack_flipped/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000106/left.json", + "scene_id": "rack_flipped/scene_000106", + "seed": 171060001, + "shared_state": "rack_flipped/scene_000106/shared_state.npz", + "video": "rack_flipped/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000106/front.json", + "scene_id": "rack_flipped/scene_000106", + "seed": 171060001, + "shared_state": "rack_flipped/scene_000106/shared_state.npz", + "video": "rack_flipped/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000106/right.json", + "scene_id": "rack_flipped/scene_000106", + "seed": 171060001, + "shared_state": "rack_flipped/scene_000106/shared_state.npz", + "video": "rack_flipped/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000107/left.json", + "scene_id": "rack_flipped/scene_000107", + "seed": 171070003, + "shared_state": "rack_flipped/scene_000107/shared_state.npz", + "video": "rack_flipped/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000107/front.json", + "scene_id": "rack_flipped/scene_000107", + "seed": 171070003, + "shared_state": "rack_flipped/scene_000107/shared_state.npz", + "video": "rack_flipped/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000107/right.json", + "scene_id": "rack_flipped/scene_000107", + "seed": 171070003, + "shared_state": "rack_flipped/scene_000107/shared_state.npz", + "video": "rack_flipped/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000108/left.json", + "scene_id": "rack_flipped/scene_000108", + "seed": 171080000, + "shared_state": "rack_flipped/scene_000108/shared_state.npz", + "video": "rack_flipped/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000108/front.json", + "scene_id": "rack_flipped/scene_000108", + "seed": 171080000, + "shared_state": "rack_flipped/scene_000108/shared_state.npz", + "video": "rack_flipped/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000108/right.json", + "scene_id": "rack_flipped/scene_000108", + "seed": 171080000, + "shared_state": "rack_flipped/scene_000108/shared_state.npz", + "video": "rack_flipped/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000109/left.json", + "scene_id": "rack_flipped/scene_000109", + "seed": 171090000, + "shared_state": "rack_flipped/scene_000109/shared_state.npz", + "video": "rack_flipped/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000109/front.json", + "scene_id": "rack_flipped/scene_000109", + "seed": 171090000, + "shared_state": "rack_flipped/scene_000109/shared_state.npz", + "video": "rack_flipped/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000109/right.json", + "scene_id": "rack_flipped/scene_000109", + "seed": 171090000, + "shared_state": "rack_flipped/scene_000109/shared_state.npz", + "video": "rack_flipped/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000110/left.json", + "scene_id": "rack_flipped/scene_000110", + "seed": 171100001, + "shared_state": "rack_flipped/scene_000110/shared_state.npz", + "video": "rack_flipped/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000110/front.json", + "scene_id": "rack_flipped/scene_000110", + "seed": 171100001, + "shared_state": "rack_flipped/scene_000110/shared_state.npz", + "video": "rack_flipped/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000110/right.json", + "scene_id": "rack_flipped/scene_000110", + "seed": 171100001, + "shared_state": "rack_flipped/scene_000110/shared_state.npz", + "video": "rack_flipped/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000111/left.json", + "scene_id": "rack_flipped/scene_000111", + "seed": 171110003, + "shared_state": "rack_flipped/scene_000111/shared_state.npz", + "video": "rack_flipped/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000111/front.json", + "scene_id": "rack_flipped/scene_000111", + "seed": 171110003, + "shared_state": "rack_flipped/scene_000111/shared_state.npz", + "video": "rack_flipped/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000111/right.json", + "scene_id": "rack_flipped/scene_000111", + "seed": 171110003, + "shared_state": "rack_flipped/scene_000111/shared_state.npz", + "video": "rack_flipped/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000112/left.json", + "scene_id": "rack_flipped/scene_000112", + "seed": 171120004, + "shared_state": "rack_flipped/scene_000112/shared_state.npz", + "video": "rack_flipped/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000112/front.json", + "scene_id": "rack_flipped/scene_000112", + "seed": 171120004, + "shared_state": "rack_flipped/scene_000112/shared_state.npz", + "video": "rack_flipped/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000112/right.json", + "scene_id": "rack_flipped/scene_000112", + "seed": 171120004, + "shared_state": "rack_flipped/scene_000112/shared_state.npz", + "video": "rack_flipped/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000113/left.json", + "scene_id": "rack_flipped/scene_000113", + "seed": 171130003, + "shared_state": "rack_flipped/scene_000113/shared_state.npz", + "video": "rack_flipped/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000113/front.json", + "scene_id": "rack_flipped/scene_000113", + "seed": 171130003, + "shared_state": "rack_flipped/scene_000113/shared_state.npz", + "video": "rack_flipped/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000113/right.json", + "scene_id": "rack_flipped/scene_000113", + "seed": 171130003, + "shared_state": "rack_flipped/scene_000113/shared_state.npz", + "video": "rack_flipped/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000114/left.json", + "scene_id": "rack_flipped/scene_000114", + "seed": 171140000, + "shared_state": "rack_flipped/scene_000114/shared_state.npz", + "video": "rack_flipped/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000114/front.json", + "scene_id": "rack_flipped/scene_000114", + "seed": 171140000, + "shared_state": "rack_flipped/scene_000114/shared_state.npz", + "video": "rack_flipped/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000114/right.json", + "scene_id": "rack_flipped/scene_000114", + "seed": 171140000, + "shared_state": "rack_flipped/scene_000114/shared_state.npz", + "video": "rack_flipped/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000115/left.json", + "scene_id": "rack_flipped/scene_000115", + "seed": 171150000, + "shared_state": "rack_flipped/scene_000115/shared_state.npz", + "video": "rack_flipped/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000115/front.json", + "scene_id": "rack_flipped/scene_000115", + "seed": 171150000, + "shared_state": "rack_flipped/scene_000115/shared_state.npz", + "video": "rack_flipped/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000115/right.json", + "scene_id": "rack_flipped/scene_000115", + "seed": 171150000, + "shared_state": "rack_flipped/scene_000115/shared_state.npz", + "video": "rack_flipped/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000116/left.json", + "scene_id": "rack_flipped/scene_000116", + "seed": 171160007, + "shared_state": "rack_flipped/scene_000116/shared_state.npz", + "video": "rack_flipped/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000116/front.json", + "scene_id": "rack_flipped/scene_000116", + "seed": 171160007, + "shared_state": "rack_flipped/scene_000116/shared_state.npz", + "video": "rack_flipped/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000116/right.json", + "scene_id": "rack_flipped/scene_000116", + "seed": 171160007, + "shared_state": "rack_flipped/scene_000116/shared_state.npz", + "video": "rack_flipped/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000117/left.json", + "scene_id": "rack_flipped/scene_000117", + "seed": 171170000, + "shared_state": "rack_flipped/scene_000117/shared_state.npz", + "video": "rack_flipped/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000117/front.json", + "scene_id": "rack_flipped/scene_000117", + "seed": 171170000, + "shared_state": "rack_flipped/scene_000117/shared_state.npz", + "video": "rack_flipped/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000117/right.json", + "scene_id": "rack_flipped/scene_000117", + "seed": 171170000, + "shared_state": "rack_flipped/scene_000117/shared_state.npz", + "video": "rack_flipped/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000118/left.json", + "scene_id": "rack_flipped/scene_000118", + "seed": 171180000, + "shared_state": "rack_flipped/scene_000118/shared_state.npz", + "video": "rack_flipped/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000118/front.json", + "scene_id": "rack_flipped/scene_000118", + "seed": 171180000, + "shared_state": "rack_flipped/scene_000118/shared_state.npz", + "video": "rack_flipped/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000118/right.json", + "scene_id": "rack_flipped/scene_000118", + "seed": 171180000, + "shared_state": "rack_flipped/scene_000118/shared_state.npz", + "video": "rack_flipped/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000119/left.json", + "scene_id": "rack_flipped/scene_000119", + "seed": 171190001, + "shared_state": "rack_flipped/scene_000119/shared_state.npz", + "video": "rack_flipped/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000119/front.json", + "scene_id": "rack_flipped/scene_000119", + "seed": 171190001, + "shared_state": "rack_flipped/scene_000119/shared_state.npz", + "video": "rack_flipped/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000119/right.json", + "scene_id": "rack_flipped/scene_000119", + "seed": 171190001, + "shared_state": "rack_flipped/scene_000119/shared_state.npz", + "video": "rack_flipped/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000120/left.json", + "scene_id": "rack_flipped/scene_000120", + "seed": 171200001, + "shared_state": "rack_flipped/scene_000120/shared_state.npz", + "video": "rack_flipped/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000120/front.json", + "scene_id": "rack_flipped/scene_000120", + "seed": 171200001, + "shared_state": "rack_flipped/scene_000120/shared_state.npz", + "video": "rack_flipped/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000120/right.json", + "scene_id": "rack_flipped/scene_000120", + "seed": 171200001, + "shared_state": "rack_flipped/scene_000120/shared_state.npz", + "video": "rack_flipped/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000121/left.json", + "scene_id": "rack_flipped/scene_000121", + "seed": 171210000, + "shared_state": "rack_flipped/scene_000121/shared_state.npz", + "video": "rack_flipped/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000121/front.json", + "scene_id": "rack_flipped/scene_000121", + "seed": 171210000, + "shared_state": "rack_flipped/scene_000121/shared_state.npz", + "video": "rack_flipped/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000121/right.json", + "scene_id": "rack_flipped/scene_000121", + "seed": 171210000, + "shared_state": "rack_flipped/scene_000121/shared_state.npz", + "video": "rack_flipped/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000122/left.json", + "scene_id": "rack_flipped/scene_000122", + "seed": 171220004, + "shared_state": "rack_flipped/scene_000122/shared_state.npz", + "video": "rack_flipped/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000122/front.json", + "scene_id": "rack_flipped/scene_000122", + "seed": 171220004, + "shared_state": "rack_flipped/scene_000122/shared_state.npz", + "video": "rack_flipped/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000122/right.json", + "scene_id": "rack_flipped/scene_000122", + "seed": 171220004, + "shared_state": "rack_flipped/scene_000122/shared_state.npz", + "video": "rack_flipped/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000123/left.json", + "scene_id": "rack_flipped/scene_000123", + "seed": 171230001, + "shared_state": "rack_flipped/scene_000123/shared_state.npz", + "video": "rack_flipped/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000123/front.json", + "scene_id": "rack_flipped/scene_000123", + "seed": 171230001, + "shared_state": "rack_flipped/scene_000123/shared_state.npz", + "video": "rack_flipped/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000123/right.json", + "scene_id": "rack_flipped/scene_000123", + "seed": 171230001, + "shared_state": "rack_flipped/scene_000123/shared_state.npz", + "video": "rack_flipped/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000124/left.json", + "scene_id": "rack_flipped/scene_000124", + "seed": 171240001, + "shared_state": "rack_flipped/scene_000124/shared_state.npz", + "video": "rack_flipped/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000124/front.json", + "scene_id": "rack_flipped/scene_000124", + "seed": 171240001, + "shared_state": "rack_flipped/scene_000124/shared_state.npz", + "video": "rack_flipped/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000124/right.json", + "scene_id": "rack_flipped/scene_000124", + "seed": 171240001, + "shared_state": "rack_flipped/scene_000124/shared_state.npz", + "video": "rack_flipped/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000125/left.json", + "scene_id": "rack_flipped/scene_000125", + "seed": 171250001, + "shared_state": "rack_flipped/scene_000125/shared_state.npz", + "video": "rack_flipped/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000125/front.json", + "scene_id": "rack_flipped/scene_000125", + "seed": 171250001, + "shared_state": "rack_flipped/scene_000125/shared_state.npz", + "video": "rack_flipped/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000125/right.json", + "scene_id": "rack_flipped/scene_000125", + "seed": 171250001, + "shared_state": "rack_flipped/scene_000125/shared_state.npz", + "video": "rack_flipped/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000126/left.json", + "scene_id": "rack_flipped/scene_000126", + "seed": 171260003, + "shared_state": "rack_flipped/scene_000126/shared_state.npz", + "video": "rack_flipped/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000126/front.json", + "scene_id": "rack_flipped/scene_000126", + "seed": 171260003, + "shared_state": "rack_flipped/scene_000126/shared_state.npz", + "video": "rack_flipped/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000126/right.json", + "scene_id": "rack_flipped/scene_000126", + "seed": 171260003, + "shared_state": "rack_flipped/scene_000126/shared_state.npz", + "video": "rack_flipped/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000127/left.json", + "scene_id": "rack_flipped/scene_000127", + "seed": 171270001, + "shared_state": "rack_flipped/scene_000127/shared_state.npz", + "video": "rack_flipped/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000127/front.json", + "scene_id": "rack_flipped/scene_000127", + "seed": 171270001, + "shared_state": "rack_flipped/scene_000127/shared_state.npz", + "video": "rack_flipped/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000127/right.json", + "scene_id": "rack_flipped/scene_000127", + "seed": 171270001, + "shared_state": "rack_flipped/scene_000127/shared_state.npz", + "video": "rack_flipped/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000128/left.json", + "scene_id": "rack_flipped/scene_000128", + "seed": 171280001, + "shared_state": "rack_flipped/scene_000128/shared_state.npz", + "video": "rack_flipped/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000128/front.json", + "scene_id": "rack_flipped/scene_000128", + "seed": 171280001, + "shared_state": "rack_flipped/scene_000128/shared_state.npz", + "video": "rack_flipped/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000128/right.json", + "scene_id": "rack_flipped/scene_000128", + "seed": 171280001, + "shared_state": "rack_flipped/scene_000128/shared_state.npz", + "video": "rack_flipped/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000129/left.json", + "scene_id": "rack_flipped/scene_000129", + "seed": 171290000, + "shared_state": "rack_flipped/scene_000129/shared_state.npz", + "video": "rack_flipped/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000129/front.json", + "scene_id": "rack_flipped/scene_000129", + "seed": 171290000, + "shared_state": "rack_flipped/scene_000129/shared_state.npz", + "video": "rack_flipped/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000129/right.json", + "scene_id": "rack_flipped/scene_000129", + "seed": 171290000, + "shared_state": "rack_flipped/scene_000129/shared_state.npz", + "video": "rack_flipped/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000130/left.json", + "scene_id": "rack_flipped/scene_000130", + "seed": 171300001, + "shared_state": "rack_flipped/scene_000130/shared_state.npz", + "video": "rack_flipped/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000130/front.json", + "scene_id": "rack_flipped/scene_000130", + "seed": 171300001, + "shared_state": "rack_flipped/scene_000130/shared_state.npz", + "video": "rack_flipped/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000130/right.json", + "scene_id": "rack_flipped/scene_000130", + "seed": 171300001, + "shared_state": "rack_flipped/scene_000130/shared_state.npz", + "video": "rack_flipped/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000131/left.json", + "scene_id": "rack_flipped/scene_000131", + "seed": 171310000, + "shared_state": "rack_flipped/scene_000131/shared_state.npz", + "video": "rack_flipped/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000131/front.json", + "scene_id": "rack_flipped/scene_000131", + "seed": 171310000, + "shared_state": "rack_flipped/scene_000131/shared_state.npz", + "video": "rack_flipped/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000131/right.json", + "scene_id": "rack_flipped/scene_000131", + "seed": 171310000, + "shared_state": "rack_flipped/scene_000131/shared_state.npz", + "video": "rack_flipped/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000132/left.json", + "scene_id": "rack_flipped/scene_000132", + "seed": 171320000, + "shared_state": "rack_flipped/scene_000132/shared_state.npz", + "video": "rack_flipped/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000132/front.json", + "scene_id": "rack_flipped/scene_000132", + "seed": 171320000, + "shared_state": "rack_flipped/scene_000132/shared_state.npz", + "video": "rack_flipped/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000132/right.json", + "scene_id": "rack_flipped/scene_000132", + "seed": 171320000, + "shared_state": "rack_flipped/scene_000132/shared_state.npz", + "video": "rack_flipped/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000133/left.json", + "scene_id": "rack_flipped/scene_000133", + "seed": 171330000, + "shared_state": "rack_flipped/scene_000133/shared_state.npz", + "video": "rack_flipped/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000133/front.json", + "scene_id": "rack_flipped/scene_000133", + "seed": 171330000, + "shared_state": "rack_flipped/scene_000133/shared_state.npz", + "video": "rack_flipped/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000133/right.json", + "scene_id": "rack_flipped/scene_000133", + "seed": 171330000, + "shared_state": "rack_flipped/scene_000133/shared_state.npz", + "video": "rack_flipped/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000134/left.json", + "scene_id": "rack_flipped/scene_000134", + "seed": 171340002, + "shared_state": "rack_flipped/scene_000134/shared_state.npz", + "video": "rack_flipped/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000134/front.json", + "scene_id": "rack_flipped/scene_000134", + "seed": 171340002, + "shared_state": "rack_flipped/scene_000134/shared_state.npz", + "video": "rack_flipped/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000134/right.json", + "scene_id": "rack_flipped/scene_000134", + "seed": 171340002, + "shared_state": "rack_flipped/scene_000134/shared_state.npz", + "video": "rack_flipped/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000135/left.json", + "scene_id": "rack_flipped/scene_000135", + "seed": 171350000, + "shared_state": "rack_flipped/scene_000135/shared_state.npz", + "video": "rack_flipped/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000135/front.json", + "scene_id": "rack_flipped/scene_000135", + "seed": 171350000, + "shared_state": "rack_flipped/scene_000135/shared_state.npz", + "video": "rack_flipped/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000135/right.json", + "scene_id": "rack_flipped/scene_000135", + "seed": 171350000, + "shared_state": "rack_flipped/scene_000135/shared_state.npz", + "video": "rack_flipped/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000136/left.json", + "scene_id": "rack_flipped/scene_000136", + "seed": 171360000, + "shared_state": "rack_flipped/scene_000136/shared_state.npz", + "video": "rack_flipped/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000136/front.json", + "scene_id": "rack_flipped/scene_000136", + "seed": 171360000, + "shared_state": "rack_flipped/scene_000136/shared_state.npz", + "video": "rack_flipped/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000136/right.json", + "scene_id": "rack_flipped/scene_000136", + "seed": 171360000, + "shared_state": "rack_flipped/scene_000136/shared_state.npz", + "video": "rack_flipped/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000137/left.json", + "scene_id": "rack_flipped/scene_000137", + "seed": 171370001, + "shared_state": "rack_flipped/scene_000137/shared_state.npz", + "video": "rack_flipped/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000137/front.json", + "scene_id": "rack_flipped/scene_000137", + "seed": 171370001, + "shared_state": "rack_flipped/scene_000137/shared_state.npz", + "video": "rack_flipped/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000137/right.json", + "scene_id": "rack_flipped/scene_000137", + "seed": 171370001, + "shared_state": "rack_flipped/scene_000137/shared_state.npz", + "video": "rack_flipped/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000138/left.json", + "scene_id": "rack_flipped/scene_000138", + "seed": 171380002, + "shared_state": "rack_flipped/scene_000138/shared_state.npz", + "video": "rack_flipped/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000138/front.json", + "scene_id": "rack_flipped/scene_000138", + "seed": 171380002, + "shared_state": "rack_flipped/scene_000138/shared_state.npz", + "video": "rack_flipped/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000138/right.json", + "scene_id": "rack_flipped/scene_000138", + "seed": 171380002, + "shared_state": "rack_flipped/scene_000138/shared_state.npz", + "video": "rack_flipped/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000139/left.json", + "scene_id": "rack_flipped/scene_000139", + "seed": 171390001, + "shared_state": "rack_flipped/scene_000139/shared_state.npz", + "video": "rack_flipped/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000139/front.json", + "scene_id": "rack_flipped/scene_000139", + "seed": 171390001, + "shared_state": "rack_flipped/scene_000139/shared_state.npz", + "video": "rack_flipped/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000139/right.json", + "scene_id": "rack_flipped/scene_000139", + "seed": 171390001, + "shared_state": "rack_flipped/scene_000139/shared_state.npz", + "video": "rack_flipped/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000140/left.json", + "scene_id": "rack_flipped/scene_000140", + "seed": 171400000, + "shared_state": "rack_flipped/scene_000140/shared_state.npz", + "video": "rack_flipped/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000140/front.json", + "scene_id": "rack_flipped/scene_000140", + "seed": 171400000, + "shared_state": "rack_flipped/scene_000140/shared_state.npz", + "video": "rack_flipped/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000140/right.json", + "scene_id": "rack_flipped/scene_000140", + "seed": 171400000, + "shared_state": "rack_flipped/scene_000140/shared_state.npz", + "video": "rack_flipped/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000141/left.json", + "scene_id": "rack_flipped/scene_000141", + "seed": 171410000, + "shared_state": "rack_flipped/scene_000141/shared_state.npz", + "video": "rack_flipped/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000141/front.json", + "scene_id": "rack_flipped/scene_000141", + "seed": 171410000, + "shared_state": "rack_flipped/scene_000141/shared_state.npz", + "video": "rack_flipped/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000141/right.json", + "scene_id": "rack_flipped/scene_000141", + "seed": 171410000, + "shared_state": "rack_flipped/scene_000141/shared_state.npz", + "video": "rack_flipped/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000142/left.json", + "scene_id": "rack_flipped/scene_000142", + "seed": 171420000, + "shared_state": "rack_flipped/scene_000142/shared_state.npz", + "video": "rack_flipped/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000142/front.json", + "scene_id": "rack_flipped/scene_000142", + "seed": 171420000, + "shared_state": "rack_flipped/scene_000142/shared_state.npz", + "video": "rack_flipped/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000142/right.json", + "scene_id": "rack_flipped/scene_000142", + "seed": 171420000, + "shared_state": "rack_flipped/scene_000142/shared_state.npz", + "video": "rack_flipped/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000143/left.json", + "scene_id": "rack_flipped/scene_000143", + "seed": 171430000, + "shared_state": "rack_flipped/scene_000143/shared_state.npz", + "video": "rack_flipped/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000143/front.json", + "scene_id": "rack_flipped/scene_000143", + "seed": 171430000, + "shared_state": "rack_flipped/scene_000143/shared_state.npz", + "video": "rack_flipped/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000143/right.json", + "scene_id": "rack_flipped/scene_000143", + "seed": 171430000, + "shared_state": "rack_flipped/scene_000143/shared_state.npz", + "video": "rack_flipped/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000144/left.json", + "scene_id": "rack_flipped/scene_000144", + "seed": 171440003, + "shared_state": "rack_flipped/scene_000144/shared_state.npz", + "video": "rack_flipped/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000144/front.json", + "scene_id": "rack_flipped/scene_000144", + "seed": 171440003, + "shared_state": "rack_flipped/scene_000144/shared_state.npz", + "video": "rack_flipped/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000144/right.json", + "scene_id": "rack_flipped/scene_000144", + "seed": 171440003, + "shared_state": "rack_flipped/scene_000144/shared_state.npz", + "video": "rack_flipped/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000145/left.json", + "scene_id": "rack_flipped/scene_000145", + "seed": 171450001, + "shared_state": "rack_flipped/scene_000145/shared_state.npz", + "video": "rack_flipped/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000145/front.json", + "scene_id": "rack_flipped/scene_000145", + "seed": 171450001, + "shared_state": "rack_flipped/scene_000145/shared_state.npz", + "video": "rack_flipped/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000145/right.json", + "scene_id": "rack_flipped/scene_000145", + "seed": 171450001, + "shared_state": "rack_flipped/scene_000145/shared_state.npz", + "video": "rack_flipped/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000146/left.json", + "scene_id": "rack_flipped/scene_000146", + "seed": 171460000, + "shared_state": "rack_flipped/scene_000146/shared_state.npz", + "video": "rack_flipped/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000146/front.json", + "scene_id": "rack_flipped/scene_000146", + "seed": 171460000, + "shared_state": "rack_flipped/scene_000146/shared_state.npz", + "video": "rack_flipped/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000146/right.json", + "scene_id": "rack_flipped/scene_000146", + "seed": 171460000, + "shared_state": "rack_flipped/scene_000146/shared_state.npz", + "video": "rack_flipped/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000147/left.json", + "scene_id": "rack_flipped/scene_000147", + "seed": 171470000, + "shared_state": "rack_flipped/scene_000147/shared_state.npz", + "video": "rack_flipped/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000147/front.json", + "scene_id": "rack_flipped/scene_000147", + "seed": 171470000, + "shared_state": "rack_flipped/scene_000147/shared_state.npz", + "video": "rack_flipped/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000147/right.json", + "scene_id": "rack_flipped/scene_000147", + "seed": 171470000, + "shared_state": "rack_flipped/scene_000147/shared_state.npz", + "video": "rack_flipped/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000148/left.json", + "scene_id": "rack_flipped/scene_000148", + "seed": 171480001, + "shared_state": "rack_flipped/scene_000148/shared_state.npz", + "video": "rack_flipped/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000148/front.json", + "scene_id": "rack_flipped/scene_000148", + "seed": 171480001, + "shared_state": "rack_flipped/scene_000148/shared_state.npz", + "video": "rack_flipped/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000148/right.json", + "scene_id": "rack_flipped/scene_000148", + "seed": 171480001, + "shared_state": "rack_flipped/scene_000148/shared_state.npz", + "video": "rack_flipped/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000149/left.json", + "scene_id": "rack_flipped/scene_000149", + "seed": 171490001, + "shared_state": "rack_flipped/scene_000149/shared_state.npz", + "video": "rack_flipped/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000149/front.json", + "scene_id": "rack_flipped/scene_000149", + "seed": 171490001, + "shared_state": "rack_flipped/scene_000149/shared_state.npz", + "video": "rack_flipped/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000149/right.json", + "scene_id": "rack_flipped/scene_000149", + "seed": 171490001, + "shared_state": "rack_flipped/scene_000149/shared_state.npz", + "video": "rack_flipped/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000150/left.json", + "scene_id": "rack_flipped/scene_000150", + "seed": 171500000, + "shared_state": "rack_flipped/scene_000150/shared_state.npz", + "video": "rack_flipped/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000150/front.json", + "scene_id": "rack_flipped/scene_000150", + "seed": 171500000, + "shared_state": "rack_flipped/scene_000150/shared_state.npz", + "video": "rack_flipped/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000150/right.json", + "scene_id": "rack_flipped/scene_000150", + "seed": 171500000, + "shared_state": "rack_flipped/scene_000150/shared_state.npz", + "video": "rack_flipped/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000151/left.json", + "scene_id": "rack_flipped/scene_000151", + "seed": 171510001, + "shared_state": "rack_flipped/scene_000151/shared_state.npz", + "video": "rack_flipped/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000151/front.json", + "scene_id": "rack_flipped/scene_000151", + "seed": 171510001, + "shared_state": "rack_flipped/scene_000151/shared_state.npz", + "video": "rack_flipped/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000151/right.json", + "scene_id": "rack_flipped/scene_000151", + "seed": 171510001, + "shared_state": "rack_flipped/scene_000151/shared_state.npz", + "video": "rack_flipped/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000152/left.json", + "scene_id": "rack_flipped/scene_000152", + "seed": 171520000, + "shared_state": "rack_flipped/scene_000152/shared_state.npz", + "video": "rack_flipped/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000152/front.json", + "scene_id": "rack_flipped/scene_000152", + "seed": 171520000, + "shared_state": "rack_flipped/scene_000152/shared_state.npz", + "video": "rack_flipped/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000152/right.json", + "scene_id": "rack_flipped/scene_000152", + "seed": 171520000, + "shared_state": "rack_flipped/scene_000152/shared_state.npz", + "video": "rack_flipped/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000153/left.json", + "scene_id": "rack_flipped/scene_000153", + "seed": 171530002, + "shared_state": "rack_flipped/scene_000153/shared_state.npz", + "video": "rack_flipped/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000153/front.json", + "scene_id": "rack_flipped/scene_000153", + "seed": 171530002, + "shared_state": "rack_flipped/scene_000153/shared_state.npz", + "video": "rack_flipped/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000153/right.json", + "scene_id": "rack_flipped/scene_000153", + "seed": 171530002, + "shared_state": "rack_flipped/scene_000153/shared_state.npz", + "video": "rack_flipped/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000154/left.json", + "scene_id": "rack_flipped/scene_000154", + "seed": 171540000, + "shared_state": "rack_flipped/scene_000154/shared_state.npz", + "video": "rack_flipped/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000154/front.json", + "scene_id": "rack_flipped/scene_000154", + "seed": 171540000, + "shared_state": "rack_flipped/scene_000154/shared_state.npz", + "video": "rack_flipped/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000154/right.json", + "scene_id": "rack_flipped/scene_000154", + "seed": 171540000, + "shared_state": "rack_flipped/scene_000154/shared_state.npz", + "video": "rack_flipped/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000155/left.json", + "scene_id": "rack_flipped/scene_000155", + "seed": 171550001, + "shared_state": "rack_flipped/scene_000155/shared_state.npz", + "video": "rack_flipped/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000155/front.json", + "scene_id": "rack_flipped/scene_000155", + "seed": 171550001, + "shared_state": "rack_flipped/scene_000155/shared_state.npz", + "video": "rack_flipped/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000155/right.json", + "scene_id": "rack_flipped/scene_000155", + "seed": 171550001, + "shared_state": "rack_flipped/scene_000155/shared_state.npz", + "video": "rack_flipped/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000156/left.json", + "scene_id": "rack_flipped/scene_000156", + "seed": 171560001, + "shared_state": "rack_flipped/scene_000156/shared_state.npz", + "video": "rack_flipped/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000156/front.json", + "scene_id": "rack_flipped/scene_000156", + "seed": 171560001, + "shared_state": "rack_flipped/scene_000156/shared_state.npz", + "video": "rack_flipped/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000156/right.json", + "scene_id": "rack_flipped/scene_000156", + "seed": 171560001, + "shared_state": "rack_flipped/scene_000156/shared_state.npz", + "video": "rack_flipped/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000157/left.json", + "scene_id": "rack_flipped/scene_000157", + "seed": 171570000, + "shared_state": "rack_flipped/scene_000157/shared_state.npz", + "video": "rack_flipped/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000157/front.json", + "scene_id": "rack_flipped/scene_000157", + "seed": 171570000, + "shared_state": "rack_flipped/scene_000157/shared_state.npz", + "video": "rack_flipped/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000157/right.json", + "scene_id": "rack_flipped/scene_000157", + "seed": 171570000, + "shared_state": "rack_flipped/scene_000157/shared_state.npz", + "video": "rack_flipped/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000158/left.json", + "scene_id": "rack_flipped/scene_000158", + "seed": 171580001, + "shared_state": "rack_flipped/scene_000158/shared_state.npz", + "video": "rack_flipped/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000158/front.json", + "scene_id": "rack_flipped/scene_000158", + "seed": 171580001, + "shared_state": "rack_flipped/scene_000158/shared_state.npz", + "video": "rack_flipped/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000158/right.json", + "scene_id": "rack_flipped/scene_000158", + "seed": 171580001, + "shared_state": "rack_flipped/scene_000158/shared_state.npz", + "video": "rack_flipped/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000159/left.json", + "scene_id": "rack_flipped/scene_000159", + "seed": 171590003, + "shared_state": "rack_flipped/scene_000159/shared_state.npz", + "video": "rack_flipped/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000159/front.json", + "scene_id": "rack_flipped/scene_000159", + "seed": 171590003, + "shared_state": "rack_flipped/scene_000159/shared_state.npz", + "video": "rack_flipped/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000159/right.json", + "scene_id": "rack_flipped/scene_000159", + "seed": 171590003, + "shared_state": "rack_flipped/scene_000159/shared_state.npz", + "video": "rack_flipped/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000160/left.json", + "scene_id": "rack_flipped/scene_000160", + "seed": 171600002, + "shared_state": "rack_flipped/scene_000160/shared_state.npz", + "video": "rack_flipped/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000160/front.json", + "scene_id": "rack_flipped/scene_000160", + "seed": 171600002, + "shared_state": "rack_flipped/scene_000160/shared_state.npz", + "video": "rack_flipped/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000160/right.json", + "scene_id": "rack_flipped/scene_000160", + "seed": 171600002, + "shared_state": "rack_flipped/scene_000160/shared_state.npz", + "video": "rack_flipped/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000161/left.json", + "scene_id": "rack_flipped/scene_000161", + "seed": 171610010, + "shared_state": "rack_flipped/scene_000161/shared_state.npz", + "video": "rack_flipped/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000161/front.json", + "scene_id": "rack_flipped/scene_000161", + "seed": 171610010, + "shared_state": "rack_flipped/scene_000161/shared_state.npz", + "video": "rack_flipped/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000161/right.json", + "scene_id": "rack_flipped/scene_000161", + "seed": 171610010, + "shared_state": "rack_flipped/scene_000161/shared_state.npz", + "video": "rack_flipped/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000162/left.json", + "scene_id": "rack_flipped/scene_000162", + "seed": 171620001, + "shared_state": "rack_flipped/scene_000162/shared_state.npz", + "video": "rack_flipped/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000162/front.json", + "scene_id": "rack_flipped/scene_000162", + "seed": 171620001, + "shared_state": "rack_flipped/scene_000162/shared_state.npz", + "video": "rack_flipped/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000162/right.json", + "scene_id": "rack_flipped/scene_000162", + "seed": 171620001, + "shared_state": "rack_flipped/scene_000162/shared_state.npz", + "video": "rack_flipped/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000163/left.json", + "scene_id": "rack_flipped/scene_000163", + "seed": 171630003, + "shared_state": "rack_flipped/scene_000163/shared_state.npz", + "video": "rack_flipped/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000163/front.json", + "scene_id": "rack_flipped/scene_000163", + "seed": 171630003, + "shared_state": "rack_flipped/scene_000163/shared_state.npz", + "video": "rack_flipped/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000163/right.json", + "scene_id": "rack_flipped/scene_000163", + "seed": 171630003, + "shared_state": "rack_flipped/scene_000163/shared_state.npz", + "video": "rack_flipped/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000164/left.json", + "scene_id": "rack_flipped/scene_000164", + "seed": 171640000, + "shared_state": "rack_flipped/scene_000164/shared_state.npz", + "video": "rack_flipped/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000164/front.json", + "scene_id": "rack_flipped/scene_000164", + "seed": 171640000, + "shared_state": "rack_flipped/scene_000164/shared_state.npz", + "video": "rack_flipped/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000164/right.json", + "scene_id": "rack_flipped/scene_000164", + "seed": 171640000, + "shared_state": "rack_flipped/scene_000164/shared_state.npz", + "video": "rack_flipped/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000165/left.json", + "scene_id": "rack_flipped/scene_000165", + "seed": 171650001, + "shared_state": "rack_flipped/scene_000165/shared_state.npz", + "video": "rack_flipped/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000165/front.json", + "scene_id": "rack_flipped/scene_000165", + "seed": 171650001, + "shared_state": "rack_flipped/scene_000165/shared_state.npz", + "video": "rack_flipped/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000165/right.json", + "scene_id": "rack_flipped/scene_000165", + "seed": 171650001, + "shared_state": "rack_flipped/scene_000165/shared_state.npz", + "video": "rack_flipped/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000166/left.json", + "scene_id": "rack_flipped/scene_000166", + "seed": 171660001, + "shared_state": "rack_flipped/scene_000166/shared_state.npz", + "video": "rack_flipped/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000166/front.json", + "scene_id": "rack_flipped/scene_000166", + "seed": 171660001, + "shared_state": "rack_flipped/scene_000166/shared_state.npz", + "video": "rack_flipped/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000166/right.json", + "scene_id": "rack_flipped/scene_000166", + "seed": 171660001, + "shared_state": "rack_flipped/scene_000166/shared_state.npz", + "video": "rack_flipped/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000167/left.json", + "scene_id": "rack_flipped/scene_000167", + "seed": 171670000, + "shared_state": "rack_flipped/scene_000167/shared_state.npz", + "video": "rack_flipped/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000167/front.json", + "scene_id": "rack_flipped/scene_000167", + "seed": 171670000, + "shared_state": "rack_flipped/scene_000167/shared_state.npz", + "video": "rack_flipped/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000167/right.json", + "scene_id": "rack_flipped/scene_000167", + "seed": 171670000, + "shared_state": "rack_flipped/scene_000167/shared_state.npz", + "video": "rack_flipped/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000168/left.json", + "scene_id": "rack_flipped/scene_000168", + "seed": 171680003, + "shared_state": "rack_flipped/scene_000168/shared_state.npz", + "video": "rack_flipped/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000168/front.json", + "scene_id": "rack_flipped/scene_000168", + "seed": 171680003, + "shared_state": "rack_flipped/scene_000168/shared_state.npz", + "video": "rack_flipped/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000168/right.json", + "scene_id": "rack_flipped/scene_000168", + "seed": 171680003, + "shared_state": "rack_flipped/scene_000168/shared_state.npz", + "video": "rack_flipped/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000169/left.json", + "scene_id": "rack_flipped/scene_000169", + "seed": 171690001, + "shared_state": "rack_flipped/scene_000169/shared_state.npz", + "video": "rack_flipped/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000169/front.json", + "scene_id": "rack_flipped/scene_000169", + "seed": 171690001, + "shared_state": "rack_flipped/scene_000169/shared_state.npz", + "video": "rack_flipped/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000169/right.json", + "scene_id": "rack_flipped/scene_000169", + "seed": 171690001, + "shared_state": "rack_flipped/scene_000169/shared_state.npz", + "video": "rack_flipped/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000170/left.json", + "scene_id": "rack_flipped/scene_000170", + "seed": 171700000, + "shared_state": "rack_flipped/scene_000170/shared_state.npz", + "video": "rack_flipped/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000170/front.json", + "scene_id": "rack_flipped/scene_000170", + "seed": 171700000, + "shared_state": "rack_flipped/scene_000170/shared_state.npz", + "video": "rack_flipped/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000170/right.json", + "scene_id": "rack_flipped/scene_000170", + "seed": 171700000, + "shared_state": "rack_flipped/scene_000170/shared_state.npz", + "video": "rack_flipped/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000171/left.json", + "scene_id": "rack_flipped/scene_000171", + "seed": 171710004, + "shared_state": "rack_flipped/scene_000171/shared_state.npz", + "video": "rack_flipped/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000171/front.json", + "scene_id": "rack_flipped/scene_000171", + "seed": 171710004, + "shared_state": "rack_flipped/scene_000171/shared_state.npz", + "video": "rack_flipped/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000171/right.json", + "scene_id": "rack_flipped/scene_000171", + "seed": 171710004, + "shared_state": "rack_flipped/scene_000171/shared_state.npz", + "video": "rack_flipped/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000172/left.json", + "scene_id": "rack_flipped/scene_000172", + "seed": 171720000, + "shared_state": "rack_flipped/scene_000172/shared_state.npz", + "video": "rack_flipped/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000172/front.json", + "scene_id": "rack_flipped/scene_000172", + "seed": 171720000, + "shared_state": "rack_flipped/scene_000172/shared_state.npz", + "video": "rack_flipped/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000172/right.json", + "scene_id": "rack_flipped/scene_000172", + "seed": 171720000, + "shared_state": "rack_flipped/scene_000172/shared_state.npz", + "video": "rack_flipped/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000173/left.json", + "scene_id": "rack_flipped/scene_000173", + "seed": 171730002, + "shared_state": "rack_flipped/scene_000173/shared_state.npz", + "video": "rack_flipped/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000173/front.json", + "scene_id": "rack_flipped/scene_000173", + "seed": 171730002, + "shared_state": "rack_flipped/scene_000173/shared_state.npz", + "video": "rack_flipped/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000173/right.json", + "scene_id": "rack_flipped/scene_000173", + "seed": 171730002, + "shared_state": "rack_flipped/scene_000173/shared_state.npz", + "video": "rack_flipped/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000174/left.json", + "scene_id": "rack_flipped/scene_000174", + "seed": 171740001, + "shared_state": "rack_flipped/scene_000174/shared_state.npz", + "video": "rack_flipped/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000174/front.json", + "scene_id": "rack_flipped/scene_000174", + "seed": 171740001, + "shared_state": "rack_flipped/scene_000174/shared_state.npz", + "video": "rack_flipped/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000174/right.json", + "scene_id": "rack_flipped/scene_000174", + "seed": 171740001, + "shared_state": "rack_flipped/scene_000174/shared_state.npz", + "video": "rack_flipped/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000175/left.json", + "scene_id": "rack_flipped/scene_000175", + "seed": 171750003, + "shared_state": "rack_flipped/scene_000175/shared_state.npz", + "video": "rack_flipped/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000175/front.json", + "scene_id": "rack_flipped/scene_000175", + "seed": 171750003, + "shared_state": "rack_flipped/scene_000175/shared_state.npz", + "video": "rack_flipped/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000175/right.json", + "scene_id": "rack_flipped/scene_000175", + "seed": 171750003, + "shared_state": "rack_flipped/scene_000175/shared_state.npz", + "video": "rack_flipped/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000176/left.json", + "scene_id": "rack_flipped/scene_000176", + "seed": 171760002, + "shared_state": "rack_flipped/scene_000176/shared_state.npz", + "video": "rack_flipped/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000176/front.json", + "scene_id": "rack_flipped/scene_000176", + "seed": 171760002, + "shared_state": "rack_flipped/scene_000176/shared_state.npz", + "video": "rack_flipped/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000176/right.json", + "scene_id": "rack_flipped/scene_000176", + "seed": 171760002, + "shared_state": "rack_flipped/scene_000176/shared_state.npz", + "video": "rack_flipped/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000177/left.json", + "scene_id": "rack_flipped/scene_000177", + "seed": 171770000, + "shared_state": "rack_flipped/scene_000177/shared_state.npz", + "video": "rack_flipped/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000177/front.json", + "scene_id": "rack_flipped/scene_000177", + "seed": 171770000, + "shared_state": "rack_flipped/scene_000177/shared_state.npz", + "video": "rack_flipped/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000177/right.json", + "scene_id": "rack_flipped/scene_000177", + "seed": 171770000, + "shared_state": "rack_flipped/scene_000177/shared_state.npz", + "video": "rack_flipped/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000178/left.json", + "scene_id": "rack_flipped/scene_000178", + "seed": 171780001, + "shared_state": "rack_flipped/scene_000178/shared_state.npz", + "video": "rack_flipped/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000178/front.json", + "scene_id": "rack_flipped/scene_000178", + "seed": 171780001, + "shared_state": "rack_flipped/scene_000178/shared_state.npz", + "video": "rack_flipped/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000178/right.json", + "scene_id": "rack_flipped/scene_000178", + "seed": 171780001, + "shared_state": "rack_flipped/scene_000178/shared_state.npz", + "video": "rack_flipped/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000179/left.json", + "scene_id": "rack_flipped/scene_000179", + "seed": 171790002, + "shared_state": "rack_flipped/scene_000179/shared_state.npz", + "video": "rack_flipped/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000179/front.json", + "scene_id": "rack_flipped/scene_000179", + "seed": 171790002, + "shared_state": "rack_flipped/scene_000179/shared_state.npz", + "video": "rack_flipped/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000179/right.json", + "scene_id": "rack_flipped/scene_000179", + "seed": 171790002, + "shared_state": "rack_flipped/scene_000179/shared_state.npz", + "video": "rack_flipped/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000180/left.json", + "scene_id": "rack_flipped/scene_000180", + "seed": 171800002, + "shared_state": "rack_flipped/scene_000180/shared_state.npz", + "video": "rack_flipped/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000180/front.json", + "scene_id": "rack_flipped/scene_000180", + "seed": 171800002, + "shared_state": "rack_flipped/scene_000180/shared_state.npz", + "video": "rack_flipped/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000180/right.json", + "scene_id": "rack_flipped/scene_000180", + "seed": 171800002, + "shared_state": "rack_flipped/scene_000180/shared_state.npz", + "video": "rack_flipped/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000181/left.json", + "scene_id": "rack_flipped/scene_000181", + "seed": 171810001, + "shared_state": "rack_flipped/scene_000181/shared_state.npz", + "video": "rack_flipped/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000181/front.json", + "scene_id": "rack_flipped/scene_000181", + "seed": 171810001, + "shared_state": "rack_flipped/scene_000181/shared_state.npz", + "video": "rack_flipped/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000181/right.json", + "scene_id": "rack_flipped/scene_000181", + "seed": 171810001, + "shared_state": "rack_flipped/scene_000181/shared_state.npz", + "video": "rack_flipped/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000182/left.json", + "scene_id": "rack_flipped/scene_000182", + "seed": 171820000, + "shared_state": "rack_flipped/scene_000182/shared_state.npz", + "video": "rack_flipped/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000182/front.json", + "scene_id": "rack_flipped/scene_000182", + "seed": 171820000, + "shared_state": "rack_flipped/scene_000182/shared_state.npz", + "video": "rack_flipped/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000182/right.json", + "scene_id": "rack_flipped/scene_000182", + "seed": 171820000, + "shared_state": "rack_flipped/scene_000182/shared_state.npz", + "video": "rack_flipped/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000183/left.json", + "scene_id": "rack_flipped/scene_000183", + "seed": 171830000, + "shared_state": "rack_flipped/scene_000183/shared_state.npz", + "video": "rack_flipped/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000183/front.json", + "scene_id": "rack_flipped/scene_000183", + "seed": 171830000, + "shared_state": "rack_flipped/scene_000183/shared_state.npz", + "video": "rack_flipped/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000183/right.json", + "scene_id": "rack_flipped/scene_000183", + "seed": 171830000, + "shared_state": "rack_flipped/scene_000183/shared_state.npz", + "video": "rack_flipped/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000184/left.json", + "scene_id": "rack_flipped/scene_000184", + "seed": 171840000, + "shared_state": "rack_flipped/scene_000184/shared_state.npz", + "video": "rack_flipped/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000184/front.json", + "scene_id": "rack_flipped/scene_000184", + "seed": 171840000, + "shared_state": "rack_flipped/scene_000184/shared_state.npz", + "video": "rack_flipped/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000184/right.json", + "scene_id": "rack_flipped/scene_000184", + "seed": 171840000, + "shared_state": "rack_flipped/scene_000184/shared_state.npz", + "video": "rack_flipped/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000185/left.json", + "scene_id": "rack_flipped/scene_000185", + "seed": 171850001, + "shared_state": "rack_flipped/scene_000185/shared_state.npz", + "video": "rack_flipped/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000185/front.json", + "scene_id": "rack_flipped/scene_000185", + "seed": 171850001, + "shared_state": "rack_flipped/scene_000185/shared_state.npz", + "video": "rack_flipped/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000185/right.json", + "scene_id": "rack_flipped/scene_000185", + "seed": 171850001, + "shared_state": "rack_flipped/scene_000185/shared_state.npz", + "video": "rack_flipped/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000186/left.json", + "scene_id": "rack_flipped/scene_000186", + "seed": 171860000, + "shared_state": "rack_flipped/scene_000186/shared_state.npz", + "video": "rack_flipped/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000186/front.json", + "scene_id": "rack_flipped/scene_000186", + "seed": 171860000, + "shared_state": "rack_flipped/scene_000186/shared_state.npz", + "video": "rack_flipped/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000186/right.json", + "scene_id": "rack_flipped/scene_000186", + "seed": 171860000, + "shared_state": "rack_flipped/scene_000186/shared_state.npz", + "video": "rack_flipped/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000187/left.json", + "scene_id": "rack_flipped/scene_000187", + "seed": 171870001, + "shared_state": "rack_flipped/scene_000187/shared_state.npz", + "video": "rack_flipped/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000187/front.json", + "scene_id": "rack_flipped/scene_000187", + "seed": 171870001, + "shared_state": "rack_flipped/scene_000187/shared_state.npz", + "video": "rack_flipped/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000187/right.json", + "scene_id": "rack_flipped/scene_000187", + "seed": 171870001, + "shared_state": "rack_flipped/scene_000187/shared_state.npz", + "video": "rack_flipped/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000188/left.json", + "scene_id": "rack_flipped/scene_000188", + "seed": 171880003, + "shared_state": "rack_flipped/scene_000188/shared_state.npz", + "video": "rack_flipped/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000188/front.json", + "scene_id": "rack_flipped/scene_000188", + "seed": 171880003, + "shared_state": "rack_flipped/scene_000188/shared_state.npz", + "video": "rack_flipped/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000188/right.json", + "scene_id": "rack_flipped/scene_000188", + "seed": 171880003, + "shared_state": "rack_flipped/scene_000188/shared_state.npz", + "video": "rack_flipped/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000189/left.json", + "scene_id": "rack_flipped/scene_000189", + "seed": 171890000, + "shared_state": "rack_flipped/scene_000189/shared_state.npz", + "video": "rack_flipped/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000189/front.json", + "scene_id": "rack_flipped/scene_000189", + "seed": 171890000, + "shared_state": "rack_flipped/scene_000189/shared_state.npz", + "video": "rack_flipped/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000189/right.json", + "scene_id": "rack_flipped/scene_000189", + "seed": 171890000, + "shared_state": "rack_flipped/scene_000189/shared_state.npz", + "video": "rack_flipped/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000190/left.json", + "scene_id": "rack_flipped/scene_000190", + "seed": 171900000, + "shared_state": "rack_flipped/scene_000190/shared_state.npz", + "video": "rack_flipped/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000190/front.json", + "scene_id": "rack_flipped/scene_000190", + "seed": 171900000, + "shared_state": "rack_flipped/scene_000190/shared_state.npz", + "video": "rack_flipped/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000190/right.json", + "scene_id": "rack_flipped/scene_000190", + "seed": 171900000, + "shared_state": "rack_flipped/scene_000190/shared_state.npz", + "video": "rack_flipped/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000191/left.json", + "scene_id": "rack_flipped/scene_000191", + "seed": 171910000, + "shared_state": "rack_flipped/scene_000191/shared_state.npz", + "video": "rack_flipped/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000191/front.json", + "scene_id": "rack_flipped/scene_000191", + "seed": 171910000, + "shared_state": "rack_flipped/scene_000191/shared_state.npz", + "video": "rack_flipped/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000191/right.json", + "scene_id": "rack_flipped/scene_000191", + "seed": 171910000, + "shared_state": "rack_flipped/scene_000191/shared_state.npz", + "video": "rack_flipped/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000192/left.json", + "scene_id": "rack_flipped/scene_000192", + "seed": 171920000, + "shared_state": "rack_flipped/scene_000192/shared_state.npz", + "video": "rack_flipped/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000192/front.json", + "scene_id": "rack_flipped/scene_000192", + "seed": 171920000, + "shared_state": "rack_flipped/scene_000192/shared_state.npz", + "video": "rack_flipped/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000192/right.json", + "scene_id": "rack_flipped/scene_000192", + "seed": 171920000, + "shared_state": "rack_flipped/scene_000192/shared_state.npz", + "video": "rack_flipped/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000193/left.json", + "scene_id": "rack_flipped/scene_000193", + "seed": 171930000, + "shared_state": "rack_flipped/scene_000193/shared_state.npz", + "video": "rack_flipped/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000193/front.json", + "scene_id": "rack_flipped/scene_000193", + "seed": 171930000, + "shared_state": "rack_flipped/scene_000193/shared_state.npz", + "video": "rack_flipped/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000193/right.json", + "scene_id": "rack_flipped/scene_000193", + "seed": 171930000, + "shared_state": "rack_flipped/scene_000193/shared_state.npz", + "video": "rack_flipped/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000194/left.json", + "scene_id": "rack_flipped/scene_000194", + "seed": 171940002, + "shared_state": "rack_flipped/scene_000194/shared_state.npz", + "video": "rack_flipped/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000194/front.json", + "scene_id": "rack_flipped/scene_000194", + "seed": 171940002, + "shared_state": "rack_flipped/scene_000194/shared_state.npz", + "video": "rack_flipped/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000194/right.json", + "scene_id": "rack_flipped/scene_000194", + "seed": 171940002, + "shared_state": "rack_flipped/scene_000194/shared_state.npz", + "video": "rack_flipped/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000195/left.json", + "scene_id": "rack_flipped/scene_000195", + "seed": 171950001, + "shared_state": "rack_flipped/scene_000195/shared_state.npz", + "video": "rack_flipped/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000195/front.json", + "scene_id": "rack_flipped/scene_000195", + "seed": 171950001, + "shared_state": "rack_flipped/scene_000195/shared_state.npz", + "video": "rack_flipped/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000195/right.json", + "scene_id": "rack_flipped/scene_000195", + "seed": 171950001, + "shared_state": "rack_flipped/scene_000195/shared_state.npz", + "video": "rack_flipped/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000196/left.json", + "scene_id": "rack_flipped/scene_000196", + "seed": 171960002, + "shared_state": "rack_flipped/scene_000196/shared_state.npz", + "video": "rack_flipped/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000196/front.json", + "scene_id": "rack_flipped/scene_000196", + "seed": 171960002, + "shared_state": "rack_flipped/scene_000196/shared_state.npz", + "video": "rack_flipped/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000196/right.json", + "scene_id": "rack_flipped/scene_000196", + "seed": 171960002, + "shared_state": "rack_flipped/scene_000196/shared_state.npz", + "video": "rack_flipped/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000197/left.json", + "scene_id": "rack_flipped/scene_000197", + "seed": 171970002, + "shared_state": "rack_flipped/scene_000197/shared_state.npz", + "video": "rack_flipped/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000197/front.json", + "scene_id": "rack_flipped/scene_000197", + "seed": 171970002, + "shared_state": "rack_flipped/scene_000197/shared_state.npz", + "video": "rack_flipped/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000197/right.json", + "scene_id": "rack_flipped/scene_000197", + "seed": 171970002, + "shared_state": "rack_flipped/scene_000197/shared_state.npz", + "video": "rack_flipped/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000198/left.json", + "scene_id": "rack_flipped/scene_000198", + "seed": 171980000, + "shared_state": "rack_flipped/scene_000198/shared_state.npz", + "video": "rack_flipped/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000198/front.json", + "scene_id": "rack_flipped/scene_000198", + "seed": 171980000, + "shared_state": "rack_flipped/scene_000198/shared_state.npz", + "video": "rack_flipped/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000198/right.json", + "scene_id": "rack_flipped/scene_000198", + "seed": 171980000, + "shared_state": "rack_flipped/scene_000198/shared_state.npz", + "video": "rack_flipped/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000199/left.json", + "scene_id": "rack_flipped/scene_000199", + "seed": 171990002, + "shared_state": "rack_flipped/scene_000199/shared_state.npz", + "video": "rack_flipped/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000199/front.json", + "scene_id": "rack_flipped/scene_000199", + "seed": 171990002, + "shared_state": "rack_flipped/scene_000199/shared_state.npz", + "video": "rack_flipped/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000199/right.json", + "scene_id": "rack_flipped/scene_000199", + "seed": 171990002, + "shared_state": "rack_flipped/scene_000199/shared_state.npz", + "video": "rack_flipped/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000200/left.json", + "scene_id": "rack_flipped/scene_000200", + "seed": 172000002, + "shared_state": "rack_flipped/scene_000200/shared_state.npz", + "video": "rack_flipped/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000200/front.json", + "scene_id": "rack_flipped/scene_000200", + "seed": 172000002, + "shared_state": "rack_flipped/scene_000200/shared_state.npz", + "video": "rack_flipped/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000200/right.json", + "scene_id": "rack_flipped/scene_000200", + "seed": 172000002, + "shared_state": "rack_flipped/scene_000200/shared_state.npz", + "video": "rack_flipped/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000201/left.json", + "scene_id": "rack_flipped/scene_000201", + "seed": 172010002, + "shared_state": "rack_flipped/scene_000201/shared_state.npz", + "video": "rack_flipped/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000201/front.json", + "scene_id": "rack_flipped/scene_000201", + "seed": 172010002, + "shared_state": "rack_flipped/scene_000201/shared_state.npz", + "video": "rack_flipped/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000201/right.json", + "scene_id": "rack_flipped/scene_000201", + "seed": 172010002, + "shared_state": "rack_flipped/scene_000201/shared_state.npz", + "video": "rack_flipped/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000202/left.json", + "scene_id": "rack_flipped/scene_000202", + "seed": 172020004, + "shared_state": "rack_flipped/scene_000202/shared_state.npz", + "video": "rack_flipped/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000202/front.json", + "scene_id": "rack_flipped/scene_000202", + "seed": 172020004, + "shared_state": "rack_flipped/scene_000202/shared_state.npz", + "video": "rack_flipped/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000202/right.json", + "scene_id": "rack_flipped/scene_000202", + "seed": 172020004, + "shared_state": "rack_flipped/scene_000202/shared_state.npz", + "video": "rack_flipped/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000203/left.json", + "scene_id": "rack_flipped/scene_000203", + "seed": 172030001, + "shared_state": "rack_flipped/scene_000203/shared_state.npz", + "video": "rack_flipped/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000203/front.json", + "scene_id": "rack_flipped/scene_000203", + "seed": 172030001, + "shared_state": "rack_flipped/scene_000203/shared_state.npz", + "video": "rack_flipped/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000203/right.json", + "scene_id": "rack_flipped/scene_000203", + "seed": 172030001, + "shared_state": "rack_flipped/scene_000203/shared_state.npz", + "video": "rack_flipped/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000204/left.json", + "scene_id": "rack_flipped/scene_000204", + "seed": 172040002, + "shared_state": "rack_flipped/scene_000204/shared_state.npz", + "video": "rack_flipped/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000204/front.json", + "scene_id": "rack_flipped/scene_000204", + "seed": 172040002, + "shared_state": "rack_flipped/scene_000204/shared_state.npz", + "video": "rack_flipped/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000204/right.json", + "scene_id": "rack_flipped/scene_000204", + "seed": 172040002, + "shared_state": "rack_flipped/scene_000204/shared_state.npz", + "video": "rack_flipped/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000205/left.json", + "scene_id": "rack_flipped/scene_000205", + "seed": 172050001, + "shared_state": "rack_flipped/scene_000205/shared_state.npz", + "video": "rack_flipped/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000205/front.json", + "scene_id": "rack_flipped/scene_000205", + "seed": 172050001, + "shared_state": "rack_flipped/scene_000205/shared_state.npz", + "video": "rack_flipped/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000205/right.json", + "scene_id": "rack_flipped/scene_000205", + "seed": 172050001, + "shared_state": "rack_flipped/scene_000205/shared_state.npz", + "video": "rack_flipped/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000206/left.json", + "scene_id": "rack_flipped/scene_000206", + "seed": 172060000, + "shared_state": "rack_flipped/scene_000206/shared_state.npz", + "video": "rack_flipped/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000206/front.json", + "scene_id": "rack_flipped/scene_000206", + "seed": 172060000, + "shared_state": "rack_flipped/scene_000206/shared_state.npz", + "video": "rack_flipped/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000206/right.json", + "scene_id": "rack_flipped/scene_000206", + "seed": 172060000, + "shared_state": "rack_flipped/scene_000206/shared_state.npz", + "video": "rack_flipped/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000207/left.json", + "scene_id": "rack_flipped/scene_000207", + "seed": 172070000, + "shared_state": "rack_flipped/scene_000207/shared_state.npz", + "video": "rack_flipped/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000207/front.json", + "scene_id": "rack_flipped/scene_000207", + "seed": 172070000, + "shared_state": "rack_flipped/scene_000207/shared_state.npz", + "video": "rack_flipped/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000207/right.json", + "scene_id": "rack_flipped/scene_000207", + "seed": 172070000, + "shared_state": "rack_flipped/scene_000207/shared_state.npz", + "video": "rack_flipped/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000208/left.json", + "scene_id": "rack_flipped/scene_000208", + "seed": 172080000, + "shared_state": "rack_flipped/scene_000208/shared_state.npz", + "video": "rack_flipped/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000208/front.json", + "scene_id": "rack_flipped/scene_000208", + "seed": 172080000, + "shared_state": "rack_flipped/scene_000208/shared_state.npz", + "video": "rack_flipped/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000208/right.json", + "scene_id": "rack_flipped/scene_000208", + "seed": 172080000, + "shared_state": "rack_flipped/scene_000208/shared_state.npz", + "video": "rack_flipped/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000209/left.json", + "scene_id": "rack_flipped/scene_000209", + "seed": 172090000, + "shared_state": "rack_flipped/scene_000209/shared_state.npz", + "video": "rack_flipped/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000209/front.json", + "scene_id": "rack_flipped/scene_000209", + "seed": 172090000, + "shared_state": "rack_flipped/scene_000209/shared_state.npz", + "video": "rack_flipped/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000209/right.json", + "scene_id": "rack_flipped/scene_000209", + "seed": 172090000, + "shared_state": "rack_flipped/scene_000209/shared_state.npz", + "video": "rack_flipped/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000210/left.json", + "scene_id": "rack_flipped/scene_000210", + "seed": 172100002, + "shared_state": "rack_flipped/scene_000210/shared_state.npz", + "video": "rack_flipped/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000210/front.json", + "scene_id": "rack_flipped/scene_000210", + "seed": 172100002, + "shared_state": "rack_flipped/scene_000210/shared_state.npz", + "video": "rack_flipped/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000210/right.json", + "scene_id": "rack_flipped/scene_000210", + "seed": 172100002, + "shared_state": "rack_flipped/scene_000210/shared_state.npz", + "video": "rack_flipped/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000211/left.json", + "scene_id": "rack_flipped/scene_000211", + "seed": 172110004, + "shared_state": "rack_flipped/scene_000211/shared_state.npz", + "video": "rack_flipped/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000211/front.json", + "scene_id": "rack_flipped/scene_000211", + "seed": 172110004, + "shared_state": "rack_flipped/scene_000211/shared_state.npz", + "video": "rack_flipped/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000211/right.json", + "scene_id": "rack_flipped/scene_000211", + "seed": 172110004, + "shared_state": "rack_flipped/scene_000211/shared_state.npz", + "video": "rack_flipped/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000212/left.json", + "scene_id": "rack_flipped/scene_000212", + "seed": 172120001, + "shared_state": "rack_flipped/scene_000212/shared_state.npz", + "video": "rack_flipped/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000212/front.json", + "scene_id": "rack_flipped/scene_000212", + "seed": 172120001, + "shared_state": "rack_flipped/scene_000212/shared_state.npz", + "video": "rack_flipped/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000212/right.json", + "scene_id": "rack_flipped/scene_000212", + "seed": 172120001, + "shared_state": "rack_flipped/scene_000212/shared_state.npz", + "video": "rack_flipped/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000213/left.json", + "scene_id": "rack_flipped/scene_000213", + "seed": 172130002, + "shared_state": "rack_flipped/scene_000213/shared_state.npz", + "video": "rack_flipped/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000213/front.json", + "scene_id": "rack_flipped/scene_000213", + "seed": 172130002, + "shared_state": "rack_flipped/scene_000213/shared_state.npz", + "video": "rack_flipped/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000213/right.json", + "scene_id": "rack_flipped/scene_000213", + "seed": 172130002, + "shared_state": "rack_flipped/scene_000213/shared_state.npz", + "video": "rack_flipped/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000214/left.json", + "scene_id": "rack_flipped/scene_000214", + "seed": 172140006, + "shared_state": "rack_flipped/scene_000214/shared_state.npz", + "video": "rack_flipped/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000214/front.json", + "scene_id": "rack_flipped/scene_000214", + "seed": 172140006, + "shared_state": "rack_flipped/scene_000214/shared_state.npz", + "video": "rack_flipped/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000214/right.json", + "scene_id": "rack_flipped/scene_000214", + "seed": 172140006, + "shared_state": "rack_flipped/scene_000214/shared_state.npz", + "video": "rack_flipped/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000215/left.json", + "scene_id": "rack_flipped/scene_000215", + "seed": 172150001, + "shared_state": "rack_flipped/scene_000215/shared_state.npz", + "video": "rack_flipped/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000215/front.json", + "scene_id": "rack_flipped/scene_000215", + "seed": 172150001, + "shared_state": "rack_flipped/scene_000215/shared_state.npz", + "video": "rack_flipped/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000215/right.json", + "scene_id": "rack_flipped/scene_000215", + "seed": 172150001, + "shared_state": "rack_flipped/scene_000215/shared_state.npz", + "video": "rack_flipped/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000216/left.json", + "scene_id": "rack_flipped/scene_000216", + "seed": 172160000, + "shared_state": "rack_flipped/scene_000216/shared_state.npz", + "video": "rack_flipped/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000216/front.json", + "scene_id": "rack_flipped/scene_000216", + "seed": 172160000, + "shared_state": "rack_flipped/scene_000216/shared_state.npz", + "video": "rack_flipped/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000216/right.json", + "scene_id": "rack_flipped/scene_000216", + "seed": 172160000, + "shared_state": "rack_flipped/scene_000216/shared_state.npz", + "video": "rack_flipped/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000217/left.json", + "scene_id": "rack_flipped/scene_000217", + "seed": 172170001, + "shared_state": "rack_flipped/scene_000217/shared_state.npz", + "video": "rack_flipped/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000217/front.json", + "scene_id": "rack_flipped/scene_000217", + "seed": 172170001, + "shared_state": "rack_flipped/scene_000217/shared_state.npz", + "video": "rack_flipped/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000217/right.json", + "scene_id": "rack_flipped/scene_000217", + "seed": 172170001, + "shared_state": "rack_flipped/scene_000217/shared_state.npz", + "video": "rack_flipped/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000218/left.json", + "scene_id": "rack_flipped/scene_000218", + "seed": 172180002, + "shared_state": "rack_flipped/scene_000218/shared_state.npz", + "video": "rack_flipped/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000218/front.json", + "scene_id": "rack_flipped/scene_000218", + "seed": 172180002, + "shared_state": "rack_flipped/scene_000218/shared_state.npz", + "video": "rack_flipped/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000218/right.json", + "scene_id": "rack_flipped/scene_000218", + "seed": 172180002, + "shared_state": "rack_flipped/scene_000218/shared_state.npz", + "video": "rack_flipped/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000219/left.json", + "scene_id": "rack_flipped/scene_000219", + "seed": 172190002, + "shared_state": "rack_flipped/scene_000219/shared_state.npz", + "video": "rack_flipped/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000219/front.json", + "scene_id": "rack_flipped/scene_000219", + "seed": 172190002, + "shared_state": "rack_flipped/scene_000219/shared_state.npz", + "video": "rack_flipped/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000219/right.json", + "scene_id": "rack_flipped/scene_000219", + "seed": 172190002, + "shared_state": "rack_flipped/scene_000219/shared_state.npz", + "video": "rack_flipped/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000220/left.json", + "scene_id": "rack_flipped/scene_000220", + "seed": 172200000, + "shared_state": "rack_flipped/scene_000220/shared_state.npz", + "video": "rack_flipped/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000220/front.json", + "scene_id": "rack_flipped/scene_000220", + "seed": 172200000, + "shared_state": "rack_flipped/scene_000220/shared_state.npz", + "video": "rack_flipped/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000220/right.json", + "scene_id": "rack_flipped/scene_000220", + "seed": 172200000, + "shared_state": "rack_flipped/scene_000220/shared_state.npz", + "video": "rack_flipped/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000221/left.json", + "scene_id": "rack_flipped/scene_000221", + "seed": 172210007, + "shared_state": "rack_flipped/scene_000221/shared_state.npz", + "video": "rack_flipped/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000221/front.json", + "scene_id": "rack_flipped/scene_000221", + "seed": 172210007, + "shared_state": "rack_flipped/scene_000221/shared_state.npz", + "video": "rack_flipped/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000221/right.json", + "scene_id": "rack_flipped/scene_000221", + "seed": 172210007, + "shared_state": "rack_flipped/scene_000221/shared_state.npz", + "video": "rack_flipped/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000222/left.json", + "scene_id": "rack_flipped/scene_000222", + "seed": 172220001, + "shared_state": "rack_flipped/scene_000222/shared_state.npz", + "video": "rack_flipped/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000222/front.json", + "scene_id": "rack_flipped/scene_000222", + "seed": 172220001, + "shared_state": "rack_flipped/scene_000222/shared_state.npz", + "video": "rack_flipped/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000222/right.json", + "scene_id": "rack_flipped/scene_000222", + "seed": 172220001, + "shared_state": "rack_flipped/scene_000222/shared_state.npz", + "video": "rack_flipped/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000223/left.json", + "scene_id": "rack_flipped/scene_000223", + "seed": 172230002, + "shared_state": "rack_flipped/scene_000223/shared_state.npz", + "video": "rack_flipped/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000223/front.json", + "scene_id": "rack_flipped/scene_000223", + "seed": 172230002, + "shared_state": "rack_flipped/scene_000223/shared_state.npz", + "video": "rack_flipped/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000223/right.json", + "scene_id": "rack_flipped/scene_000223", + "seed": 172230002, + "shared_state": "rack_flipped/scene_000223/shared_state.npz", + "video": "rack_flipped/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000224/left.json", + "scene_id": "rack_flipped/scene_000224", + "seed": 172240000, + "shared_state": "rack_flipped/scene_000224/shared_state.npz", + "video": "rack_flipped/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000224/front.json", + "scene_id": "rack_flipped/scene_000224", + "seed": 172240000, + "shared_state": "rack_flipped/scene_000224/shared_state.npz", + "video": "rack_flipped/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000224/right.json", + "scene_id": "rack_flipped/scene_000224", + "seed": 172240000, + "shared_state": "rack_flipped/scene_000224/shared_state.npz", + "video": "rack_flipped/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000225/left.json", + "scene_id": "rack_flipped/scene_000225", + "seed": 172250005, + "shared_state": "rack_flipped/scene_000225/shared_state.npz", + "video": "rack_flipped/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000225/front.json", + "scene_id": "rack_flipped/scene_000225", + "seed": 172250005, + "shared_state": "rack_flipped/scene_000225/shared_state.npz", + "video": "rack_flipped/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000225/right.json", + "scene_id": "rack_flipped/scene_000225", + "seed": 172250005, + "shared_state": "rack_flipped/scene_000225/shared_state.npz", + "video": "rack_flipped/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000226/left.json", + "scene_id": "rack_flipped/scene_000226", + "seed": 172260000, + "shared_state": "rack_flipped/scene_000226/shared_state.npz", + "video": "rack_flipped/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000226/front.json", + "scene_id": "rack_flipped/scene_000226", + "seed": 172260000, + "shared_state": "rack_flipped/scene_000226/shared_state.npz", + "video": "rack_flipped/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000226/right.json", + "scene_id": "rack_flipped/scene_000226", + "seed": 172260000, + "shared_state": "rack_flipped/scene_000226/shared_state.npz", + "video": "rack_flipped/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000227/left.json", + "scene_id": "rack_flipped/scene_000227", + "seed": 172270000, + "shared_state": "rack_flipped/scene_000227/shared_state.npz", + "video": "rack_flipped/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000227/front.json", + "scene_id": "rack_flipped/scene_000227", + "seed": 172270000, + "shared_state": "rack_flipped/scene_000227/shared_state.npz", + "video": "rack_flipped/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000227/right.json", + "scene_id": "rack_flipped/scene_000227", + "seed": 172270000, + "shared_state": "rack_flipped/scene_000227/shared_state.npz", + "video": "rack_flipped/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000228/left.json", + "scene_id": "rack_flipped/scene_000228", + "seed": 172280000, + "shared_state": "rack_flipped/scene_000228/shared_state.npz", + "video": "rack_flipped/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000228/front.json", + "scene_id": "rack_flipped/scene_000228", + "seed": 172280000, + "shared_state": "rack_flipped/scene_000228/shared_state.npz", + "video": "rack_flipped/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000228/right.json", + "scene_id": "rack_flipped/scene_000228", + "seed": 172280000, + "shared_state": "rack_flipped/scene_000228/shared_state.npz", + "video": "rack_flipped/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000229/left.json", + "scene_id": "rack_flipped/scene_000229", + "seed": 172290001, + "shared_state": "rack_flipped/scene_000229/shared_state.npz", + "video": "rack_flipped/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000229/front.json", + "scene_id": "rack_flipped/scene_000229", + "seed": 172290001, + "shared_state": "rack_flipped/scene_000229/shared_state.npz", + "video": "rack_flipped/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000229/right.json", + "scene_id": "rack_flipped/scene_000229", + "seed": 172290001, + "shared_state": "rack_flipped/scene_000229/shared_state.npz", + "video": "rack_flipped/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000230/left.json", + "scene_id": "rack_flipped/scene_000230", + "seed": 172300000, + "shared_state": "rack_flipped/scene_000230/shared_state.npz", + "video": "rack_flipped/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000230/front.json", + "scene_id": "rack_flipped/scene_000230", + "seed": 172300000, + "shared_state": "rack_flipped/scene_000230/shared_state.npz", + "video": "rack_flipped/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000230/right.json", + "scene_id": "rack_flipped/scene_000230", + "seed": 172300000, + "shared_state": "rack_flipped/scene_000230/shared_state.npz", + "video": "rack_flipped/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000231/left.json", + "scene_id": "rack_flipped/scene_000231", + "seed": 172310002, + "shared_state": "rack_flipped/scene_000231/shared_state.npz", + "video": "rack_flipped/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000231/front.json", + "scene_id": "rack_flipped/scene_000231", + "seed": 172310002, + "shared_state": "rack_flipped/scene_000231/shared_state.npz", + "video": "rack_flipped/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000231/right.json", + "scene_id": "rack_flipped/scene_000231", + "seed": 172310002, + "shared_state": "rack_flipped/scene_000231/shared_state.npz", + "video": "rack_flipped/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000232/left.json", + "scene_id": "rack_flipped/scene_000232", + "seed": 172320000, + "shared_state": "rack_flipped/scene_000232/shared_state.npz", + "video": "rack_flipped/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000232/front.json", + "scene_id": "rack_flipped/scene_000232", + "seed": 172320000, + "shared_state": "rack_flipped/scene_000232/shared_state.npz", + "video": "rack_flipped/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000232/right.json", + "scene_id": "rack_flipped/scene_000232", + "seed": 172320000, + "shared_state": "rack_flipped/scene_000232/shared_state.npz", + "video": "rack_flipped/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000233/left.json", + "scene_id": "rack_flipped/scene_000233", + "seed": 172330000, + "shared_state": "rack_flipped/scene_000233/shared_state.npz", + "video": "rack_flipped/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000233/front.json", + "scene_id": "rack_flipped/scene_000233", + "seed": 172330000, + "shared_state": "rack_flipped/scene_000233/shared_state.npz", + "video": "rack_flipped/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000233/right.json", + "scene_id": "rack_flipped/scene_000233", + "seed": 172330000, + "shared_state": "rack_flipped/scene_000233/shared_state.npz", + "video": "rack_flipped/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000234/left.json", + "scene_id": "rack_flipped/scene_000234", + "seed": 172340002, + "shared_state": "rack_flipped/scene_000234/shared_state.npz", + "video": "rack_flipped/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000234/front.json", + "scene_id": "rack_flipped/scene_000234", + "seed": 172340002, + "shared_state": "rack_flipped/scene_000234/shared_state.npz", + "video": "rack_flipped/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000234/right.json", + "scene_id": "rack_flipped/scene_000234", + "seed": 172340002, + "shared_state": "rack_flipped/scene_000234/shared_state.npz", + "video": "rack_flipped/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000235/left.json", + "scene_id": "rack_flipped/scene_000235", + "seed": 172350000, + "shared_state": "rack_flipped/scene_000235/shared_state.npz", + "video": "rack_flipped/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000235/front.json", + "scene_id": "rack_flipped/scene_000235", + "seed": 172350000, + "shared_state": "rack_flipped/scene_000235/shared_state.npz", + "video": "rack_flipped/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000235/right.json", + "scene_id": "rack_flipped/scene_000235", + "seed": 172350000, + "shared_state": "rack_flipped/scene_000235/shared_state.npz", + "video": "rack_flipped/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000236/left.json", + "scene_id": "rack_flipped/scene_000236", + "seed": 172360003, + "shared_state": "rack_flipped/scene_000236/shared_state.npz", + "video": "rack_flipped/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000236/front.json", + "scene_id": "rack_flipped/scene_000236", + "seed": 172360003, + "shared_state": "rack_flipped/scene_000236/shared_state.npz", + "video": "rack_flipped/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000236/right.json", + "scene_id": "rack_flipped/scene_000236", + "seed": 172360003, + "shared_state": "rack_flipped/scene_000236/shared_state.npz", + "video": "rack_flipped/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000237/left.json", + "scene_id": "rack_flipped/scene_000237", + "seed": 172370001, + "shared_state": "rack_flipped/scene_000237/shared_state.npz", + "video": "rack_flipped/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000237/front.json", + "scene_id": "rack_flipped/scene_000237", + "seed": 172370001, + "shared_state": "rack_flipped/scene_000237/shared_state.npz", + "video": "rack_flipped/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000237/right.json", + "scene_id": "rack_flipped/scene_000237", + "seed": 172370001, + "shared_state": "rack_flipped/scene_000237/shared_state.npz", + "video": "rack_flipped/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000238/left.json", + "scene_id": "rack_flipped/scene_000238", + "seed": 172380002, + "shared_state": "rack_flipped/scene_000238/shared_state.npz", + "video": "rack_flipped/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000238/front.json", + "scene_id": "rack_flipped/scene_000238", + "seed": 172380002, + "shared_state": "rack_flipped/scene_000238/shared_state.npz", + "video": "rack_flipped/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000238/right.json", + "scene_id": "rack_flipped/scene_000238", + "seed": 172380002, + "shared_state": "rack_flipped/scene_000238/shared_state.npz", + "video": "rack_flipped/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000239/left.json", + "scene_id": "rack_flipped/scene_000239", + "seed": 172390003, + "shared_state": "rack_flipped/scene_000239/shared_state.npz", + "video": "rack_flipped/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000239/front.json", + "scene_id": "rack_flipped/scene_000239", + "seed": 172390003, + "shared_state": "rack_flipped/scene_000239/shared_state.npz", + "video": "rack_flipped/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000239/right.json", + "scene_id": "rack_flipped/scene_000239", + "seed": 172390003, + "shared_state": "rack_flipped/scene_000239/shared_state.npz", + "video": "rack_flipped/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000240/left.json", + "scene_id": "rack_flipped/scene_000240", + "seed": 172400003, + "shared_state": "rack_flipped/scene_000240/shared_state.npz", + "video": "rack_flipped/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000240/front.json", + "scene_id": "rack_flipped/scene_000240", + "seed": 172400003, + "shared_state": "rack_flipped/scene_000240/shared_state.npz", + "video": "rack_flipped/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000240/right.json", + "scene_id": "rack_flipped/scene_000240", + "seed": 172400003, + "shared_state": "rack_flipped/scene_000240/shared_state.npz", + "video": "rack_flipped/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000241/left.json", + "scene_id": "rack_flipped/scene_000241", + "seed": 172410001, + "shared_state": "rack_flipped/scene_000241/shared_state.npz", + "video": "rack_flipped/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000241/front.json", + "scene_id": "rack_flipped/scene_000241", + "seed": 172410001, + "shared_state": "rack_flipped/scene_000241/shared_state.npz", + "video": "rack_flipped/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000241/right.json", + "scene_id": "rack_flipped/scene_000241", + "seed": 172410001, + "shared_state": "rack_flipped/scene_000241/shared_state.npz", + "video": "rack_flipped/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000242/left.json", + "scene_id": "rack_flipped/scene_000242", + "seed": 172420000, + "shared_state": "rack_flipped/scene_000242/shared_state.npz", + "video": "rack_flipped/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000242/front.json", + "scene_id": "rack_flipped/scene_000242", + "seed": 172420000, + "shared_state": "rack_flipped/scene_000242/shared_state.npz", + "video": "rack_flipped/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000242/right.json", + "scene_id": "rack_flipped/scene_000242", + "seed": 172420000, + "shared_state": "rack_flipped/scene_000242/shared_state.npz", + "video": "rack_flipped/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000243/left.json", + "scene_id": "rack_flipped/scene_000243", + "seed": 172430001, + "shared_state": "rack_flipped/scene_000243/shared_state.npz", + "video": "rack_flipped/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000243/front.json", + "scene_id": "rack_flipped/scene_000243", + "seed": 172430001, + "shared_state": "rack_flipped/scene_000243/shared_state.npz", + "video": "rack_flipped/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000243/right.json", + "scene_id": "rack_flipped/scene_000243", + "seed": 172430001, + "shared_state": "rack_flipped/scene_000243/shared_state.npz", + "video": "rack_flipped/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000244/left.json", + "scene_id": "rack_flipped/scene_000244", + "seed": 172440000, + "shared_state": "rack_flipped/scene_000244/shared_state.npz", + "video": "rack_flipped/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000244/front.json", + "scene_id": "rack_flipped/scene_000244", + "seed": 172440000, + "shared_state": "rack_flipped/scene_000244/shared_state.npz", + "video": "rack_flipped/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000244/right.json", + "scene_id": "rack_flipped/scene_000244", + "seed": 172440000, + "shared_state": "rack_flipped/scene_000244/shared_state.npz", + "video": "rack_flipped/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000245/left.json", + "scene_id": "rack_flipped/scene_000245", + "seed": 172450000, + "shared_state": "rack_flipped/scene_000245/shared_state.npz", + "video": "rack_flipped/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000245/front.json", + "scene_id": "rack_flipped/scene_000245", + "seed": 172450000, + "shared_state": "rack_flipped/scene_000245/shared_state.npz", + "video": "rack_flipped/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000245/right.json", + "scene_id": "rack_flipped/scene_000245", + "seed": 172450000, + "shared_state": "rack_flipped/scene_000245/shared_state.npz", + "video": "rack_flipped/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000246/left.json", + "scene_id": "rack_flipped/scene_000246", + "seed": 172460000, + "shared_state": "rack_flipped/scene_000246/shared_state.npz", + "video": "rack_flipped/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000246/front.json", + "scene_id": "rack_flipped/scene_000246", + "seed": 172460000, + "shared_state": "rack_flipped/scene_000246/shared_state.npz", + "video": "rack_flipped/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000246/right.json", + "scene_id": "rack_flipped/scene_000246", + "seed": 172460000, + "shared_state": "rack_flipped/scene_000246/shared_state.npz", + "video": "rack_flipped/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000247/left.json", + "scene_id": "rack_flipped/scene_000247", + "seed": 172470000, + "shared_state": "rack_flipped/scene_000247/shared_state.npz", + "video": "rack_flipped/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000247/front.json", + "scene_id": "rack_flipped/scene_000247", + "seed": 172470000, + "shared_state": "rack_flipped/scene_000247/shared_state.npz", + "video": "rack_flipped/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000247/right.json", + "scene_id": "rack_flipped/scene_000247", + "seed": 172470000, + "shared_state": "rack_flipped/scene_000247/shared_state.npz", + "video": "rack_flipped/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000248/left.json", + "scene_id": "rack_flipped/scene_000248", + "seed": 172480000, + "shared_state": "rack_flipped/scene_000248/shared_state.npz", + "video": "rack_flipped/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000248/front.json", + "scene_id": "rack_flipped/scene_000248", + "seed": 172480000, + "shared_state": "rack_flipped/scene_000248/shared_state.npz", + "video": "rack_flipped/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000248/right.json", + "scene_id": "rack_flipped/scene_000248", + "seed": 172480000, + "shared_state": "rack_flipped/scene_000248/shared_state.npz", + "video": "rack_flipped/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000249/left.json", + "scene_id": "rack_flipped/scene_000249", + "seed": 172490000, + "shared_state": "rack_flipped/scene_000249/shared_state.npz", + "video": "rack_flipped/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000249/front.json", + "scene_id": "rack_flipped/scene_000249", + "seed": 172490000, + "shared_state": "rack_flipped/scene_000249/shared_state.npz", + "video": "rack_flipped/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000249/right.json", + "scene_id": "rack_flipped/scene_000249", + "seed": 172490000, + "shared_state": "rack_flipped/scene_000249/shared_state.npz", + "video": "rack_flipped/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000250/left.json", + "scene_id": "rack_flipped/scene_000250", + "seed": 172500001, + "shared_state": "rack_flipped/scene_000250/shared_state.npz", + "video": "rack_flipped/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000250/front.json", + "scene_id": "rack_flipped/scene_000250", + "seed": 172500001, + "shared_state": "rack_flipped/scene_000250/shared_state.npz", + "video": "rack_flipped/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000250/right.json", + "scene_id": "rack_flipped/scene_000250", + "seed": 172500001, + "shared_state": "rack_flipped/scene_000250/shared_state.npz", + "video": "rack_flipped/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000251/left.json", + "scene_id": "rack_flipped/scene_000251", + "seed": 172510001, + "shared_state": "rack_flipped/scene_000251/shared_state.npz", + "video": "rack_flipped/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000251/front.json", + "scene_id": "rack_flipped/scene_000251", + "seed": 172510001, + "shared_state": "rack_flipped/scene_000251/shared_state.npz", + "video": "rack_flipped/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000251/right.json", + "scene_id": "rack_flipped/scene_000251", + "seed": 172510001, + "shared_state": "rack_flipped/scene_000251/shared_state.npz", + "video": "rack_flipped/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000252/left.json", + "scene_id": "rack_flipped/scene_000252", + "seed": 172520004, + "shared_state": "rack_flipped/scene_000252/shared_state.npz", + "video": "rack_flipped/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000252/front.json", + "scene_id": "rack_flipped/scene_000252", + "seed": 172520004, + "shared_state": "rack_flipped/scene_000252/shared_state.npz", + "video": "rack_flipped/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000252/right.json", + "scene_id": "rack_flipped/scene_000252", + "seed": 172520004, + "shared_state": "rack_flipped/scene_000252/shared_state.npz", + "video": "rack_flipped/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000253/left.json", + "scene_id": "rack_flipped/scene_000253", + "seed": 172530000, + "shared_state": "rack_flipped/scene_000253/shared_state.npz", + "video": "rack_flipped/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000253/front.json", + "scene_id": "rack_flipped/scene_000253", + "seed": 172530000, + "shared_state": "rack_flipped/scene_000253/shared_state.npz", + "video": "rack_flipped/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000253/right.json", + "scene_id": "rack_flipped/scene_000253", + "seed": 172530000, + "shared_state": "rack_flipped/scene_000253/shared_state.npz", + "video": "rack_flipped/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000254/left.json", + "scene_id": "rack_flipped/scene_000254", + "seed": 172540001, + "shared_state": "rack_flipped/scene_000254/shared_state.npz", + "video": "rack_flipped/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000254/front.json", + "scene_id": "rack_flipped/scene_000254", + "seed": 172540001, + "shared_state": "rack_flipped/scene_000254/shared_state.npz", + "video": "rack_flipped/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000254/right.json", + "scene_id": "rack_flipped/scene_000254", + "seed": 172540001, + "shared_state": "rack_flipped/scene_000254/shared_state.npz", + "video": "rack_flipped/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000255/left.json", + "scene_id": "rack_flipped/scene_000255", + "seed": 172550000, + "shared_state": "rack_flipped/scene_000255/shared_state.npz", + "video": "rack_flipped/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000255/front.json", + "scene_id": "rack_flipped/scene_000255", + "seed": 172550000, + "shared_state": "rack_flipped/scene_000255/shared_state.npz", + "video": "rack_flipped/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000255/right.json", + "scene_id": "rack_flipped/scene_000255", + "seed": 172550000, + "shared_state": "rack_flipped/scene_000255/shared_state.npz", + "video": "rack_flipped/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000256/left.json", + "scene_id": "rack_flipped/scene_000256", + "seed": 172560000, + "shared_state": "rack_flipped/scene_000256/shared_state.npz", + "video": "rack_flipped/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000256/front.json", + "scene_id": "rack_flipped/scene_000256", + "seed": 172560000, + "shared_state": "rack_flipped/scene_000256/shared_state.npz", + "video": "rack_flipped/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000256/right.json", + "scene_id": "rack_flipped/scene_000256", + "seed": 172560000, + "shared_state": "rack_flipped/scene_000256/shared_state.npz", + "video": "rack_flipped/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000257/left.json", + "scene_id": "rack_flipped/scene_000257", + "seed": 172570000, + "shared_state": "rack_flipped/scene_000257/shared_state.npz", + "video": "rack_flipped/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000257/front.json", + "scene_id": "rack_flipped/scene_000257", + "seed": 172570000, + "shared_state": "rack_flipped/scene_000257/shared_state.npz", + "video": "rack_flipped/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000257/right.json", + "scene_id": "rack_flipped/scene_000257", + "seed": 172570000, + "shared_state": "rack_flipped/scene_000257/shared_state.npz", + "video": "rack_flipped/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000258/left.json", + "scene_id": "rack_flipped/scene_000258", + "seed": 172580000, + "shared_state": "rack_flipped/scene_000258/shared_state.npz", + "video": "rack_flipped/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000258/front.json", + "scene_id": "rack_flipped/scene_000258", + "seed": 172580000, + "shared_state": "rack_flipped/scene_000258/shared_state.npz", + "video": "rack_flipped/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000258/right.json", + "scene_id": "rack_flipped/scene_000258", + "seed": 172580000, + "shared_state": "rack_flipped/scene_000258/shared_state.npz", + "video": "rack_flipped/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000259/left.json", + "scene_id": "rack_flipped/scene_000259", + "seed": 172590000, + "shared_state": "rack_flipped/scene_000259/shared_state.npz", + "video": "rack_flipped/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000259/front.json", + "scene_id": "rack_flipped/scene_000259", + "seed": 172590000, + "shared_state": "rack_flipped/scene_000259/shared_state.npz", + "video": "rack_flipped/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000259/right.json", + "scene_id": "rack_flipped/scene_000259", + "seed": 172590000, + "shared_state": "rack_flipped/scene_000259/shared_state.npz", + "video": "rack_flipped/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000260/left.json", + "scene_id": "rack_flipped/scene_000260", + "seed": 172600000, + "shared_state": "rack_flipped/scene_000260/shared_state.npz", + "video": "rack_flipped/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000260/front.json", + "scene_id": "rack_flipped/scene_000260", + "seed": 172600000, + "shared_state": "rack_flipped/scene_000260/shared_state.npz", + "video": "rack_flipped/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000260/right.json", + "scene_id": "rack_flipped/scene_000260", + "seed": 172600000, + "shared_state": "rack_flipped/scene_000260/shared_state.npz", + "video": "rack_flipped/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000261/left.json", + "scene_id": "rack_flipped/scene_000261", + "seed": 172610000, + "shared_state": "rack_flipped/scene_000261/shared_state.npz", + "video": "rack_flipped/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000261/front.json", + "scene_id": "rack_flipped/scene_000261", + "seed": 172610000, + "shared_state": "rack_flipped/scene_000261/shared_state.npz", + "video": "rack_flipped/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000261/right.json", + "scene_id": "rack_flipped/scene_000261", + "seed": 172610000, + "shared_state": "rack_flipped/scene_000261/shared_state.npz", + "video": "rack_flipped/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000262/left.json", + "scene_id": "rack_flipped/scene_000262", + "seed": 172620000, + "shared_state": "rack_flipped/scene_000262/shared_state.npz", + "video": "rack_flipped/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000262/front.json", + "scene_id": "rack_flipped/scene_000262", + "seed": 172620000, + "shared_state": "rack_flipped/scene_000262/shared_state.npz", + "video": "rack_flipped/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000262/right.json", + "scene_id": "rack_flipped/scene_000262", + "seed": 172620000, + "shared_state": "rack_flipped/scene_000262/shared_state.npz", + "video": "rack_flipped/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000263/left.json", + "scene_id": "rack_flipped/scene_000263", + "seed": 172630000, + "shared_state": "rack_flipped/scene_000263/shared_state.npz", + "video": "rack_flipped/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000263/front.json", + "scene_id": "rack_flipped/scene_000263", + "seed": 172630000, + "shared_state": "rack_flipped/scene_000263/shared_state.npz", + "video": "rack_flipped/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000263/right.json", + "scene_id": "rack_flipped/scene_000263", + "seed": 172630000, + "shared_state": "rack_flipped/scene_000263/shared_state.npz", + "video": "rack_flipped/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000264/left.json", + "scene_id": "rack_flipped/scene_000264", + "seed": 172640002, + "shared_state": "rack_flipped/scene_000264/shared_state.npz", + "video": "rack_flipped/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000264/front.json", + "scene_id": "rack_flipped/scene_000264", + "seed": 172640002, + "shared_state": "rack_flipped/scene_000264/shared_state.npz", + "video": "rack_flipped/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000264/right.json", + "scene_id": "rack_flipped/scene_000264", + "seed": 172640002, + "shared_state": "rack_flipped/scene_000264/shared_state.npz", + "video": "rack_flipped/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000265/left.json", + "scene_id": "rack_flipped/scene_000265", + "seed": 172650002, + "shared_state": "rack_flipped/scene_000265/shared_state.npz", + "video": "rack_flipped/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000265/front.json", + "scene_id": "rack_flipped/scene_000265", + "seed": 172650002, + "shared_state": "rack_flipped/scene_000265/shared_state.npz", + "video": "rack_flipped/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000265/right.json", + "scene_id": "rack_flipped/scene_000265", + "seed": 172650002, + "shared_state": "rack_flipped/scene_000265/shared_state.npz", + "video": "rack_flipped/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000266/left.json", + "scene_id": "rack_flipped/scene_000266", + "seed": 172660002, + "shared_state": "rack_flipped/scene_000266/shared_state.npz", + "video": "rack_flipped/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000266/front.json", + "scene_id": "rack_flipped/scene_000266", + "seed": 172660002, + "shared_state": "rack_flipped/scene_000266/shared_state.npz", + "video": "rack_flipped/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000266/right.json", + "scene_id": "rack_flipped/scene_000266", + "seed": 172660002, + "shared_state": "rack_flipped/scene_000266/shared_state.npz", + "video": "rack_flipped/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000267/left.json", + "scene_id": "rack_flipped/scene_000267", + "seed": 172670000, + "shared_state": "rack_flipped/scene_000267/shared_state.npz", + "video": "rack_flipped/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000267/front.json", + "scene_id": "rack_flipped/scene_000267", + "seed": 172670000, + "shared_state": "rack_flipped/scene_000267/shared_state.npz", + "video": "rack_flipped/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000267/right.json", + "scene_id": "rack_flipped/scene_000267", + "seed": 172670000, + "shared_state": "rack_flipped/scene_000267/shared_state.npz", + "video": "rack_flipped/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000268/left.json", + "scene_id": "rack_flipped/scene_000268", + "seed": 172680001, + "shared_state": "rack_flipped/scene_000268/shared_state.npz", + "video": "rack_flipped/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000268/front.json", + "scene_id": "rack_flipped/scene_000268", + "seed": 172680001, + "shared_state": "rack_flipped/scene_000268/shared_state.npz", + "video": "rack_flipped/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000268/right.json", + "scene_id": "rack_flipped/scene_000268", + "seed": 172680001, + "shared_state": "rack_flipped/scene_000268/shared_state.npz", + "video": "rack_flipped/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000269/left.json", + "scene_id": "rack_flipped/scene_000269", + "seed": 172690003, + "shared_state": "rack_flipped/scene_000269/shared_state.npz", + "video": "rack_flipped/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000269/front.json", + "scene_id": "rack_flipped/scene_000269", + "seed": 172690003, + "shared_state": "rack_flipped/scene_000269/shared_state.npz", + "video": "rack_flipped/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000269/right.json", + "scene_id": "rack_flipped/scene_000269", + "seed": 172690003, + "shared_state": "rack_flipped/scene_000269/shared_state.npz", + "video": "rack_flipped/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000270/left.json", + "scene_id": "rack_flipped/scene_000270", + "seed": 172700000, + "shared_state": "rack_flipped/scene_000270/shared_state.npz", + "video": "rack_flipped/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000270/front.json", + "scene_id": "rack_flipped/scene_000270", + "seed": 172700000, + "shared_state": "rack_flipped/scene_000270/shared_state.npz", + "video": "rack_flipped/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000270/right.json", + "scene_id": "rack_flipped/scene_000270", + "seed": 172700000, + "shared_state": "rack_flipped/scene_000270/shared_state.npz", + "video": "rack_flipped/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000271/left.json", + "scene_id": "rack_flipped/scene_000271", + "seed": 172710004, + "shared_state": "rack_flipped/scene_000271/shared_state.npz", + "video": "rack_flipped/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000271/front.json", + "scene_id": "rack_flipped/scene_000271", + "seed": 172710004, + "shared_state": "rack_flipped/scene_000271/shared_state.npz", + "video": "rack_flipped/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000271/right.json", + "scene_id": "rack_flipped/scene_000271", + "seed": 172710004, + "shared_state": "rack_flipped/scene_000271/shared_state.npz", + "video": "rack_flipped/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000272/left.json", + "scene_id": "rack_flipped/scene_000272", + "seed": 172720000, + "shared_state": "rack_flipped/scene_000272/shared_state.npz", + "video": "rack_flipped/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000272/front.json", + "scene_id": "rack_flipped/scene_000272", + "seed": 172720000, + "shared_state": "rack_flipped/scene_000272/shared_state.npz", + "video": "rack_flipped/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000272/right.json", + "scene_id": "rack_flipped/scene_000272", + "seed": 172720000, + "shared_state": "rack_flipped/scene_000272/shared_state.npz", + "video": "rack_flipped/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000273/left.json", + "scene_id": "rack_flipped/scene_000273", + "seed": 172730001, + "shared_state": "rack_flipped/scene_000273/shared_state.npz", + "video": "rack_flipped/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000273/front.json", + "scene_id": "rack_flipped/scene_000273", + "seed": 172730001, + "shared_state": "rack_flipped/scene_000273/shared_state.npz", + "video": "rack_flipped/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000273/right.json", + "scene_id": "rack_flipped/scene_000273", + "seed": 172730001, + "shared_state": "rack_flipped/scene_000273/shared_state.npz", + "video": "rack_flipped/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000274/left.json", + "scene_id": "rack_flipped/scene_000274", + "seed": 172740001, + "shared_state": "rack_flipped/scene_000274/shared_state.npz", + "video": "rack_flipped/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000274/front.json", + "scene_id": "rack_flipped/scene_000274", + "seed": 172740001, + "shared_state": "rack_flipped/scene_000274/shared_state.npz", + "video": "rack_flipped/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000274/right.json", + "scene_id": "rack_flipped/scene_000274", + "seed": 172740001, + "shared_state": "rack_flipped/scene_000274/shared_state.npz", + "video": "rack_flipped/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000275/left.json", + "scene_id": "rack_flipped/scene_000275", + "seed": 172750000, + "shared_state": "rack_flipped/scene_000275/shared_state.npz", + "video": "rack_flipped/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000275/front.json", + "scene_id": "rack_flipped/scene_000275", + "seed": 172750000, + "shared_state": "rack_flipped/scene_000275/shared_state.npz", + "video": "rack_flipped/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000275/right.json", + "scene_id": "rack_flipped/scene_000275", + "seed": 172750000, + "shared_state": "rack_flipped/scene_000275/shared_state.npz", + "video": "rack_flipped/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000276/left.json", + "scene_id": "rack_flipped/scene_000276", + "seed": 172760000, + "shared_state": "rack_flipped/scene_000276/shared_state.npz", + "video": "rack_flipped/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000276/front.json", + "scene_id": "rack_flipped/scene_000276", + "seed": 172760000, + "shared_state": "rack_flipped/scene_000276/shared_state.npz", + "video": "rack_flipped/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000276/right.json", + "scene_id": "rack_flipped/scene_000276", + "seed": 172760000, + "shared_state": "rack_flipped/scene_000276/shared_state.npz", + "video": "rack_flipped/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000277/left.json", + "scene_id": "rack_flipped/scene_000277", + "seed": 172770000, + "shared_state": "rack_flipped/scene_000277/shared_state.npz", + "video": "rack_flipped/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000277/front.json", + "scene_id": "rack_flipped/scene_000277", + "seed": 172770000, + "shared_state": "rack_flipped/scene_000277/shared_state.npz", + "video": "rack_flipped/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000277/right.json", + "scene_id": "rack_flipped/scene_000277", + "seed": 172770000, + "shared_state": "rack_flipped/scene_000277/shared_state.npz", + "video": "rack_flipped/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000278/left.json", + "scene_id": "rack_flipped/scene_000278", + "seed": 172780000, + "shared_state": "rack_flipped/scene_000278/shared_state.npz", + "video": "rack_flipped/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000278/front.json", + "scene_id": "rack_flipped/scene_000278", + "seed": 172780000, + "shared_state": "rack_flipped/scene_000278/shared_state.npz", + "video": "rack_flipped/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000278/right.json", + "scene_id": "rack_flipped/scene_000278", + "seed": 172780000, + "shared_state": "rack_flipped/scene_000278/shared_state.npz", + "video": "rack_flipped/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000279/left.json", + "scene_id": "rack_flipped/scene_000279", + "seed": 172790006, + "shared_state": "rack_flipped/scene_000279/shared_state.npz", + "video": "rack_flipped/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000279/front.json", + "scene_id": "rack_flipped/scene_000279", + "seed": 172790006, + "shared_state": "rack_flipped/scene_000279/shared_state.npz", + "video": "rack_flipped/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000279/right.json", + "scene_id": "rack_flipped/scene_000279", + "seed": 172790006, + "shared_state": "rack_flipped/scene_000279/shared_state.npz", + "video": "rack_flipped/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000280/left.json", + "scene_id": "rack_flipped/scene_000280", + "seed": 172800001, + "shared_state": "rack_flipped/scene_000280/shared_state.npz", + "video": "rack_flipped/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000280/front.json", + "scene_id": "rack_flipped/scene_000280", + "seed": 172800001, + "shared_state": "rack_flipped/scene_000280/shared_state.npz", + "video": "rack_flipped/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000280/right.json", + "scene_id": "rack_flipped/scene_000280", + "seed": 172800001, + "shared_state": "rack_flipped/scene_000280/shared_state.npz", + "video": "rack_flipped/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000281/left.json", + "scene_id": "rack_flipped/scene_000281", + "seed": 172810000, + "shared_state": "rack_flipped/scene_000281/shared_state.npz", + "video": "rack_flipped/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000281/front.json", + "scene_id": "rack_flipped/scene_000281", + "seed": 172810000, + "shared_state": "rack_flipped/scene_000281/shared_state.npz", + "video": "rack_flipped/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000281/right.json", + "scene_id": "rack_flipped/scene_000281", + "seed": 172810000, + "shared_state": "rack_flipped/scene_000281/shared_state.npz", + "video": "rack_flipped/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000282/left.json", + "scene_id": "rack_flipped/scene_000282", + "seed": 172820005, + "shared_state": "rack_flipped/scene_000282/shared_state.npz", + "video": "rack_flipped/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000282/front.json", + "scene_id": "rack_flipped/scene_000282", + "seed": 172820005, + "shared_state": "rack_flipped/scene_000282/shared_state.npz", + "video": "rack_flipped/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000282/right.json", + "scene_id": "rack_flipped/scene_000282", + "seed": 172820005, + "shared_state": "rack_flipped/scene_000282/shared_state.npz", + "video": "rack_flipped/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000283/left.json", + "scene_id": "rack_flipped/scene_000283", + "seed": 172830000, + "shared_state": "rack_flipped/scene_000283/shared_state.npz", + "video": "rack_flipped/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000283/front.json", + "scene_id": "rack_flipped/scene_000283", + "seed": 172830000, + "shared_state": "rack_flipped/scene_000283/shared_state.npz", + "video": "rack_flipped/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000283/right.json", + "scene_id": "rack_flipped/scene_000283", + "seed": 172830000, + "shared_state": "rack_flipped/scene_000283/shared_state.npz", + "video": "rack_flipped/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000284/left.json", + "scene_id": "rack_flipped/scene_000284", + "seed": 172840000, + "shared_state": "rack_flipped/scene_000284/shared_state.npz", + "video": "rack_flipped/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000284/front.json", + "scene_id": "rack_flipped/scene_000284", + "seed": 172840000, + "shared_state": "rack_flipped/scene_000284/shared_state.npz", + "video": "rack_flipped/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000284/right.json", + "scene_id": "rack_flipped/scene_000284", + "seed": 172840000, + "shared_state": "rack_flipped/scene_000284/shared_state.npz", + "video": "rack_flipped/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000285/left.json", + "scene_id": "rack_flipped/scene_000285", + "seed": 172850000, + "shared_state": "rack_flipped/scene_000285/shared_state.npz", + "video": "rack_flipped/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000285/front.json", + "scene_id": "rack_flipped/scene_000285", + "seed": 172850000, + "shared_state": "rack_flipped/scene_000285/shared_state.npz", + "video": "rack_flipped/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000285/right.json", + "scene_id": "rack_flipped/scene_000285", + "seed": 172850000, + "shared_state": "rack_flipped/scene_000285/shared_state.npz", + "video": "rack_flipped/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000286/left.json", + "scene_id": "rack_flipped/scene_000286", + "seed": 172860000, + "shared_state": "rack_flipped/scene_000286/shared_state.npz", + "video": "rack_flipped/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000286/front.json", + "scene_id": "rack_flipped/scene_000286", + "seed": 172860000, + "shared_state": "rack_flipped/scene_000286/shared_state.npz", + "video": "rack_flipped/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000286/right.json", + "scene_id": "rack_flipped/scene_000286", + "seed": 172860000, + "shared_state": "rack_flipped/scene_000286/shared_state.npz", + "video": "rack_flipped/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000287/left.json", + "scene_id": "rack_flipped/scene_000287", + "seed": 172870000, + "shared_state": "rack_flipped/scene_000287/shared_state.npz", + "video": "rack_flipped/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000287/front.json", + "scene_id": "rack_flipped/scene_000287", + "seed": 172870000, + "shared_state": "rack_flipped/scene_000287/shared_state.npz", + "video": "rack_flipped/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000287/right.json", + "scene_id": "rack_flipped/scene_000287", + "seed": 172870000, + "shared_state": "rack_flipped/scene_000287/shared_state.npz", + "video": "rack_flipped/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000288/left.json", + "scene_id": "rack_flipped/scene_000288", + "seed": 172880000, + "shared_state": "rack_flipped/scene_000288/shared_state.npz", + "video": "rack_flipped/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000288/front.json", + "scene_id": "rack_flipped/scene_000288", + "seed": 172880000, + "shared_state": "rack_flipped/scene_000288/shared_state.npz", + "video": "rack_flipped/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000288/right.json", + "scene_id": "rack_flipped/scene_000288", + "seed": 172880000, + "shared_state": "rack_flipped/scene_000288/shared_state.npz", + "video": "rack_flipped/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000289/left.json", + "scene_id": "rack_flipped/scene_000289", + "seed": 172890000, + "shared_state": "rack_flipped/scene_000289/shared_state.npz", + "video": "rack_flipped/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000289/front.json", + "scene_id": "rack_flipped/scene_000289", + "seed": 172890000, + "shared_state": "rack_flipped/scene_000289/shared_state.npz", + "video": "rack_flipped/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000289/right.json", + "scene_id": "rack_flipped/scene_000289", + "seed": 172890000, + "shared_state": "rack_flipped/scene_000289/shared_state.npz", + "video": "rack_flipped/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000290/left.json", + "scene_id": "rack_flipped/scene_000290", + "seed": 172900000, + "shared_state": "rack_flipped/scene_000290/shared_state.npz", + "video": "rack_flipped/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000290/front.json", + "scene_id": "rack_flipped/scene_000290", + "seed": 172900000, + "shared_state": "rack_flipped/scene_000290/shared_state.npz", + "video": "rack_flipped/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000290/right.json", + "scene_id": "rack_flipped/scene_000290", + "seed": 172900000, + "shared_state": "rack_flipped/scene_000290/shared_state.npz", + "video": "rack_flipped/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000291/left.json", + "scene_id": "rack_flipped/scene_000291", + "seed": 172910000, + "shared_state": "rack_flipped/scene_000291/shared_state.npz", + "video": "rack_flipped/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000291/front.json", + "scene_id": "rack_flipped/scene_000291", + "seed": 172910000, + "shared_state": "rack_flipped/scene_000291/shared_state.npz", + "video": "rack_flipped/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000291/right.json", + "scene_id": "rack_flipped/scene_000291", + "seed": 172910000, + "shared_state": "rack_flipped/scene_000291/shared_state.npz", + "video": "rack_flipped/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000292/left.json", + "scene_id": "rack_flipped/scene_000292", + "seed": 172920000, + "shared_state": "rack_flipped/scene_000292/shared_state.npz", + "video": "rack_flipped/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000292/front.json", + "scene_id": "rack_flipped/scene_000292", + "seed": 172920000, + "shared_state": "rack_flipped/scene_000292/shared_state.npz", + "video": "rack_flipped/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000292/right.json", + "scene_id": "rack_flipped/scene_000292", + "seed": 172920000, + "shared_state": "rack_flipped/scene_000292/shared_state.npz", + "video": "rack_flipped/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000293/left.json", + "scene_id": "rack_flipped/scene_000293", + "seed": 172930005, + "shared_state": "rack_flipped/scene_000293/shared_state.npz", + "video": "rack_flipped/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000293/front.json", + "scene_id": "rack_flipped/scene_000293", + "seed": 172930005, + "shared_state": "rack_flipped/scene_000293/shared_state.npz", + "video": "rack_flipped/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000293/right.json", + "scene_id": "rack_flipped/scene_000293", + "seed": 172930005, + "shared_state": "rack_flipped/scene_000293/shared_state.npz", + "video": "rack_flipped/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000294/left.json", + "scene_id": "rack_flipped/scene_000294", + "seed": 172940000, + "shared_state": "rack_flipped/scene_000294/shared_state.npz", + "video": "rack_flipped/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000294/front.json", + "scene_id": "rack_flipped/scene_000294", + "seed": 172940000, + "shared_state": "rack_flipped/scene_000294/shared_state.npz", + "video": "rack_flipped/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000294/right.json", + "scene_id": "rack_flipped/scene_000294", + "seed": 172940000, + "shared_state": "rack_flipped/scene_000294/shared_state.npz", + "video": "rack_flipped/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000295/left.json", + "scene_id": "rack_flipped/scene_000295", + "seed": 172950000, + "shared_state": "rack_flipped/scene_000295/shared_state.npz", + "video": "rack_flipped/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000295/front.json", + "scene_id": "rack_flipped/scene_000295", + "seed": 172950000, + "shared_state": "rack_flipped/scene_000295/shared_state.npz", + "video": "rack_flipped/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000295/right.json", + "scene_id": "rack_flipped/scene_000295", + "seed": 172950000, + "shared_state": "rack_flipped/scene_000295/shared_state.npz", + "video": "rack_flipped/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000296/left.json", + "scene_id": "rack_flipped/scene_000296", + "seed": 172960001, + "shared_state": "rack_flipped/scene_000296/shared_state.npz", + "video": "rack_flipped/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000296/front.json", + "scene_id": "rack_flipped/scene_000296", + "seed": 172960001, + "shared_state": "rack_flipped/scene_000296/shared_state.npz", + "video": "rack_flipped/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000296/right.json", + "scene_id": "rack_flipped/scene_000296", + "seed": 172960001, + "shared_state": "rack_flipped/scene_000296/shared_state.npz", + "video": "rack_flipped/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000297/left.json", + "scene_id": "rack_flipped/scene_000297", + "seed": 172970000, + "shared_state": "rack_flipped/scene_000297/shared_state.npz", + "video": "rack_flipped/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000297/front.json", + "scene_id": "rack_flipped/scene_000297", + "seed": 172970000, + "shared_state": "rack_flipped/scene_000297/shared_state.npz", + "video": "rack_flipped/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000297/right.json", + "scene_id": "rack_flipped/scene_000297", + "seed": 172970000, + "shared_state": "rack_flipped/scene_000297/shared_state.npz", + "video": "rack_flipped/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000298/left.json", + "scene_id": "rack_flipped/scene_000298", + "seed": 172980000, + "shared_state": "rack_flipped/scene_000298/shared_state.npz", + "video": "rack_flipped/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000298/front.json", + "scene_id": "rack_flipped/scene_000298", + "seed": 172980000, + "shared_state": "rack_flipped/scene_000298/shared_state.npz", + "video": "rack_flipped/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000298/right.json", + "scene_id": "rack_flipped/scene_000298", + "seed": 172980000, + "shared_state": "rack_flipped/scene_000298/shared_state.npz", + "video": "rack_flipped/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000299/left.json", + "scene_id": "rack_flipped/scene_000299", + "seed": 172990000, + "shared_state": "rack_flipped/scene_000299/shared_state.npz", + "video": "rack_flipped/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000299/front.json", + "scene_id": "rack_flipped/scene_000299", + "seed": 172990000, + "shared_state": "rack_flipped/scene_000299/shared_state.npz", + "video": "rack_flipped/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "rack_flipped", + "inherited": false, + "metadata": "rack_flipped/scene_000299/right.json", + "scene_id": "rack_flipped/scene_000299", + "seed": 172990000, + "shared_state": "rack_flipped/scene_000299/shared_state.npz", + "video": "rack_flipped/scene_000299/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000000/left.json", + "scene_id": "success/scene_000000", + "seed": 20260909, + "shared_state": "success/scene_000000/shared_state.npz", + "video": "success/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000000/front.json", + "scene_id": "success/scene_000000", + "seed": 20260909, + "shared_state": "success/scene_000000/shared_state.npz", + "video": "success/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000000/right.json", + "scene_id": "success/scene_000000", + "seed": 20260909, + "shared_state": "success/scene_000000/shared_state.npz", + "video": "success/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000001/left.json", + "scene_id": "success/scene_000001", + "seed": 20270909, + "shared_state": "success/scene_000001/shared_state.npz", + "video": "success/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000001/front.json", + "scene_id": "success/scene_000001", + "seed": 20270909, + "shared_state": "success/scene_000001/shared_state.npz", + "video": "success/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000001/right.json", + "scene_id": "success/scene_000001", + "seed": 20270909, + "shared_state": "success/scene_000001/shared_state.npz", + "video": "success/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000002/left.json", + "scene_id": "success/scene_000002", + "seed": 20280909, + "shared_state": "success/scene_000002/shared_state.npz", + "video": "success/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000002/front.json", + "scene_id": "success/scene_000002", + "seed": 20280909, + "shared_state": "success/scene_000002/shared_state.npz", + "video": "success/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000002/right.json", + "scene_id": "success/scene_000002", + "seed": 20280909, + "shared_state": "success/scene_000002/shared_state.npz", + "video": "success/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000003/left.json", + "scene_id": "success/scene_000003", + "seed": 20290909, + "shared_state": "success/scene_000003/shared_state.npz", + "video": "success/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000003/front.json", + "scene_id": "success/scene_000003", + "seed": 20290909, + "shared_state": "success/scene_000003/shared_state.npz", + "video": "success/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000003/right.json", + "scene_id": "success/scene_000003", + "seed": 20290909, + "shared_state": "success/scene_000003/shared_state.npz", + "video": "success/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000004/left.json", + "scene_id": "success/scene_000004", + "seed": 20300910, + "shared_state": "success/scene_000004/shared_state.npz", + "video": "success/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000004/front.json", + "scene_id": "success/scene_000004", + "seed": 20300910, + "shared_state": "success/scene_000004/shared_state.npz", + "video": "success/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000004/right.json", + "scene_id": "success/scene_000004", + "seed": 20300910, + "shared_state": "success/scene_000004/shared_state.npz", + "video": "success/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000005/left.json", + "scene_id": "success/scene_000005", + "seed": 20310909, + "shared_state": "success/scene_000005/shared_state.npz", + "video": "success/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000005/front.json", + "scene_id": "success/scene_000005", + "seed": 20310909, + "shared_state": "success/scene_000005/shared_state.npz", + "video": "success/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000005/right.json", + "scene_id": "success/scene_000005", + "seed": 20310909, + "shared_state": "success/scene_000005/shared_state.npz", + "video": "success/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000006/left.json", + "scene_id": "success/scene_000006", + "seed": 20320909, + "shared_state": "success/scene_000006/shared_state.npz", + "video": "success/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000006/front.json", + "scene_id": "success/scene_000006", + "seed": 20320909, + "shared_state": "success/scene_000006/shared_state.npz", + "video": "success/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000006/right.json", + "scene_id": "success/scene_000006", + "seed": 20320909, + "shared_state": "success/scene_000006/shared_state.npz", + "video": "success/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000007/left.json", + "scene_id": "success/scene_000007", + "seed": 20330909, + "shared_state": "success/scene_000007/shared_state.npz", + "video": "success/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000007/front.json", + "scene_id": "success/scene_000007", + "seed": 20330909, + "shared_state": "success/scene_000007/shared_state.npz", + "video": "success/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000007/right.json", + "scene_id": "success/scene_000007", + "seed": 20330909, + "shared_state": "success/scene_000007/shared_state.npz", + "video": "success/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000008/left.json", + "scene_id": "success/scene_000008", + "seed": 20340910, + "shared_state": "success/scene_000008/shared_state.npz", + "video": "success/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000008/front.json", + "scene_id": "success/scene_000008", + "seed": 20340910, + "shared_state": "success/scene_000008/shared_state.npz", + "video": "success/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000008/right.json", + "scene_id": "success/scene_000008", + "seed": 20340910, + "shared_state": "success/scene_000008/shared_state.npz", + "video": "success/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000009/left.json", + "scene_id": "success/scene_000009", + "seed": 20350909, + "shared_state": "success/scene_000009/shared_state.npz", + "video": "success/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000009/front.json", + "scene_id": "success/scene_000009", + "seed": 20350909, + "shared_state": "success/scene_000009/shared_state.npz", + "video": "success/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000009/right.json", + "scene_id": "success/scene_000009", + "seed": 20350909, + "shared_state": "success/scene_000009/shared_state.npz", + "video": "success/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000010/left.json", + "scene_id": "success/scene_000010", + "seed": 20360909, + "shared_state": "success/scene_000010/shared_state.npz", + "video": "success/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000010/front.json", + "scene_id": "success/scene_000010", + "seed": 20360909, + "shared_state": "success/scene_000010/shared_state.npz", + "video": "success/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000010/right.json", + "scene_id": "success/scene_000010", + "seed": 20360909, + "shared_state": "success/scene_000010/shared_state.npz", + "video": "success/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000011/left.json", + "scene_id": "success/scene_000011", + "seed": 20370909, + "shared_state": "success/scene_000011/shared_state.npz", + "video": "success/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000011/front.json", + "scene_id": "success/scene_000011", + "seed": 20370909, + "shared_state": "success/scene_000011/shared_state.npz", + "video": "success/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000011/right.json", + "scene_id": "success/scene_000011", + "seed": 20370909, + "shared_state": "success/scene_000011/shared_state.npz", + "video": "success/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000012/left.json", + "scene_id": "success/scene_000012", + "seed": 20380909, + "shared_state": "success/scene_000012/shared_state.npz", + "video": "success/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000012/front.json", + "scene_id": "success/scene_000012", + "seed": 20380909, + "shared_state": "success/scene_000012/shared_state.npz", + "video": "success/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000012/right.json", + "scene_id": "success/scene_000012", + "seed": 20380909, + "shared_state": "success/scene_000012/shared_state.npz", + "video": "success/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000013/left.json", + "scene_id": "success/scene_000013", + "seed": 20390909, + "shared_state": "success/scene_000013/shared_state.npz", + "video": "success/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000013/front.json", + "scene_id": "success/scene_000013", + "seed": 20390909, + "shared_state": "success/scene_000013/shared_state.npz", + "video": "success/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000013/right.json", + "scene_id": "success/scene_000013", + "seed": 20390909, + "shared_state": "success/scene_000013/shared_state.npz", + "video": "success/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000014/left.json", + "scene_id": "success/scene_000014", + "seed": 20400909, + "shared_state": "success/scene_000014/shared_state.npz", + "video": "success/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000014/front.json", + "scene_id": "success/scene_000014", + "seed": 20400909, + "shared_state": "success/scene_000014/shared_state.npz", + "video": "success/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000014/right.json", + "scene_id": "success/scene_000014", + "seed": 20400909, + "shared_state": "success/scene_000014/shared_state.npz", + "video": "success/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000015/left.json", + "scene_id": "success/scene_000015", + "seed": 20410909, + "shared_state": "success/scene_000015/shared_state.npz", + "video": "success/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000015/front.json", + "scene_id": "success/scene_000015", + "seed": 20410909, + "shared_state": "success/scene_000015/shared_state.npz", + "video": "success/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000015/right.json", + "scene_id": "success/scene_000015", + "seed": 20410909, + "shared_state": "success/scene_000015/shared_state.npz", + "video": "success/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000016/left.json", + "scene_id": "success/scene_000016", + "seed": 20420909, + "shared_state": "success/scene_000016/shared_state.npz", + "video": "success/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000016/front.json", + "scene_id": "success/scene_000016", + "seed": 20420909, + "shared_state": "success/scene_000016/shared_state.npz", + "video": "success/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000016/right.json", + "scene_id": "success/scene_000016", + "seed": 20420909, + "shared_state": "success/scene_000016/shared_state.npz", + "video": "success/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000017/left.json", + "scene_id": "success/scene_000017", + "seed": 20430909, + "shared_state": "success/scene_000017/shared_state.npz", + "video": "success/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000017/front.json", + "scene_id": "success/scene_000017", + "seed": 20430909, + "shared_state": "success/scene_000017/shared_state.npz", + "video": "success/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000017/right.json", + "scene_id": "success/scene_000017", + "seed": 20430909, + "shared_state": "success/scene_000017/shared_state.npz", + "video": "success/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000018/left.json", + "scene_id": "success/scene_000018", + "seed": 20440909, + "shared_state": "success/scene_000018/shared_state.npz", + "video": "success/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000018/front.json", + "scene_id": "success/scene_000018", + "seed": 20440909, + "shared_state": "success/scene_000018/shared_state.npz", + "video": "success/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000018/right.json", + "scene_id": "success/scene_000018", + "seed": 20440909, + "shared_state": "success/scene_000018/shared_state.npz", + "video": "success/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000019/left.json", + "scene_id": "success/scene_000019", + "seed": 20450909, + "shared_state": "success/scene_000019/shared_state.npz", + "video": "success/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000019/front.json", + "scene_id": "success/scene_000019", + "seed": 20450909, + "shared_state": "success/scene_000019/shared_state.npz", + "video": "success/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000019/right.json", + "scene_id": "success/scene_000019", + "seed": 20450909, + "shared_state": "success/scene_000019/shared_state.npz", + "video": "success/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000020/left.json", + "scene_id": "success/scene_000020", + "seed": 20460910, + "shared_state": "success/scene_000020/shared_state.npz", + "video": "success/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000020/front.json", + "scene_id": "success/scene_000020", + "seed": 20460910, + "shared_state": "success/scene_000020/shared_state.npz", + "video": "success/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000020/right.json", + "scene_id": "success/scene_000020", + "seed": 20460910, + "shared_state": "success/scene_000020/shared_state.npz", + "video": "success/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000021/left.json", + "scene_id": "success/scene_000021", + "seed": 20470910, + "shared_state": "success/scene_000021/shared_state.npz", + "video": "success/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000021/front.json", + "scene_id": "success/scene_000021", + "seed": 20470910, + "shared_state": "success/scene_000021/shared_state.npz", + "video": "success/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000021/right.json", + "scene_id": "success/scene_000021", + "seed": 20470910, + "shared_state": "success/scene_000021/shared_state.npz", + "video": "success/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000022/left.json", + "scene_id": "success/scene_000022", + "seed": 20480909, + "shared_state": "success/scene_000022/shared_state.npz", + "video": "success/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000022/front.json", + "scene_id": "success/scene_000022", + "seed": 20480909, + "shared_state": "success/scene_000022/shared_state.npz", + "video": "success/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000022/right.json", + "scene_id": "success/scene_000022", + "seed": 20480909, + "shared_state": "success/scene_000022/shared_state.npz", + "video": "success/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000023/left.json", + "scene_id": "success/scene_000023", + "seed": 20490912, + "shared_state": "success/scene_000023/shared_state.npz", + "video": "success/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000023/front.json", + "scene_id": "success/scene_000023", + "seed": 20490912, + "shared_state": "success/scene_000023/shared_state.npz", + "video": "success/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000023/right.json", + "scene_id": "success/scene_000023", + "seed": 20490912, + "shared_state": "success/scene_000023/shared_state.npz", + "video": "success/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000024/left.json", + "scene_id": "success/scene_000024", + "seed": 20500909, + "shared_state": "success/scene_000024/shared_state.npz", + "video": "success/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000024/front.json", + "scene_id": "success/scene_000024", + "seed": 20500909, + "shared_state": "success/scene_000024/shared_state.npz", + "video": "success/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000024/right.json", + "scene_id": "success/scene_000024", + "seed": 20500909, + "shared_state": "success/scene_000024/shared_state.npz", + "video": "success/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000025/left.json", + "scene_id": "success/scene_000025", + "seed": 20510909, + "shared_state": "success/scene_000025/shared_state.npz", + "video": "success/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000025/front.json", + "scene_id": "success/scene_000025", + "seed": 20510909, + "shared_state": "success/scene_000025/shared_state.npz", + "video": "success/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000025/right.json", + "scene_id": "success/scene_000025", + "seed": 20510909, + "shared_state": "success/scene_000025/shared_state.npz", + "video": "success/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000026/left.json", + "scene_id": "success/scene_000026", + "seed": 20520909, + "shared_state": "success/scene_000026/shared_state.npz", + "video": "success/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000026/front.json", + "scene_id": "success/scene_000026", + "seed": 20520909, + "shared_state": "success/scene_000026/shared_state.npz", + "video": "success/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000026/right.json", + "scene_id": "success/scene_000026", + "seed": 20520909, + "shared_state": "success/scene_000026/shared_state.npz", + "video": "success/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000027/left.json", + "scene_id": "success/scene_000027", + "seed": 20530909, + "shared_state": "success/scene_000027/shared_state.npz", + "video": "success/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000027/front.json", + "scene_id": "success/scene_000027", + "seed": 20530909, + "shared_state": "success/scene_000027/shared_state.npz", + "video": "success/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000027/right.json", + "scene_id": "success/scene_000027", + "seed": 20530909, + "shared_state": "success/scene_000027/shared_state.npz", + "video": "success/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000028/left.json", + "scene_id": "success/scene_000028", + "seed": 20540909, + "shared_state": "success/scene_000028/shared_state.npz", + "video": "success/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000028/front.json", + "scene_id": "success/scene_000028", + "seed": 20540909, + "shared_state": "success/scene_000028/shared_state.npz", + "video": "success/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000028/right.json", + "scene_id": "success/scene_000028", + "seed": 20540909, + "shared_state": "success/scene_000028/shared_state.npz", + "video": "success/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000029/left.json", + "scene_id": "success/scene_000029", + "seed": 20550909, + "shared_state": "success/scene_000029/shared_state.npz", + "video": "success/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000029/front.json", + "scene_id": "success/scene_000029", + "seed": 20550909, + "shared_state": "success/scene_000029/shared_state.npz", + "video": "success/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000029/right.json", + "scene_id": "success/scene_000029", + "seed": 20550909, + "shared_state": "success/scene_000029/shared_state.npz", + "video": "success/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000030/left.json", + "scene_id": "success/scene_000030", + "seed": 20560911, + "shared_state": "success/scene_000030/shared_state.npz", + "video": "success/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000030/front.json", + "scene_id": "success/scene_000030", + "seed": 20560911, + "shared_state": "success/scene_000030/shared_state.npz", + "video": "success/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000030/right.json", + "scene_id": "success/scene_000030", + "seed": 20560911, + "shared_state": "success/scene_000030/shared_state.npz", + "video": "success/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000031/left.json", + "scene_id": "success/scene_000031", + "seed": 20570910, + "shared_state": "success/scene_000031/shared_state.npz", + "video": "success/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000031/front.json", + "scene_id": "success/scene_000031", + "seed": 20570910, + "shared_state": "success/scene_000031/shared_state.npz", + "video": "success/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000031/right.json", + "scene_id": "success/scene_000031", + "seed": 20570910, + "shared_state": "success/scene_000031/shared_state.npz", + "video": "success/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000032/left.json", + "scene_id": "success/scene_000032", + "seed": 20580910, + "shared_state": "success/scene_000032/shared_state.npz", + "video": "success/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000032/front.json", + "scene_id": "success/scene_000032", + "seed": 20580910, + "shared_state": "success/scene_000032/shared_state.npz", + "video": "success/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000032/right.json", + "scene_id": "success/scene_000032", + "seed": 20580910, + "shared_state": "success/scene_000032/shared_state.npz", + "video": "success/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000033/left.json", + "scene_id": "success/scene_000033", + "seed": 20590909, + "shared_state": "success/scene_000033/shared_state.npz", + "video": "success/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000033/front.json", + "scene_id": "success/scene_000033", + "seed": 20590909, + "shared_state": "success/scene_000033/shared_state.npz", + "video": "success/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000033/right.json", + "scene_id": "success/scene_000033", + "seed": 20590909, + "shared_state": "success/scene_000033/shared_state.npz", + "video": "success/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000034/left.json", + "scene_id": "success/scene_000034", + "seed": 20600910, + "shared_state": "success/scene_000034/shared_state.npz", + "video": "success/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000034/front.json", + "scene_id": "success/scene_000034", + "seed": 20600910, + "shared_state": "success/scene_000034/shared_state.npz", + "video": "success/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000034/right.json", + "scene_id": "success/scene_000034", + "seed": 20600910, + "shared_state": "success/scene_000034/shared_state.npz", + "video": "success/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000035/left.json", + "scene_id": "success/scene_000035", + "seed": 20610909, + "shared_state": "success/scene_000035/shared_state.npz", + "video": "success/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000035/front.json", + "scene_id": "success/scene_000035", + "seed": 20610909, + "shared_state": "success/scene_000035/shared_state.npz", + "video": "success/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000035/right.json", + "scene_id": "success/scene_000035", + "seed": 20610909, + "shared_state": "success/scene_000035/shared_state.npz", + "video": "success/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000036/left.json", + "scene_id": "success/scene_000036", + "seed": 20620909, + "shared_state": "success/scene_000036/shared_state.npz", + "video": "success/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000036/front.json", + "scene_id": "success/scene_000036", + "seed": 20620909, + "shared_state": "success/scene_000036/shared_state.npz", + "video": "success/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000036/right.json", + "scene_id": "success/scene_000036", + "seed": 20620909, + "shared_state": "success/scene_000036/shared_state.npz", + "video": "success/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000037/left.json", + "scene_id": "success/scene_000037", + "seed": 20630909, + "shared_state": "success/scene_000037/shared_state.npz", + "video": "success/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000037/front.json", + "scene_id": "success/scene_000037", + "seed": 20630909, + "shared_state": "success/scene_000037/shared_state.npz", + "video": "success/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000037/right.json", + "scene_id": "success/scene_000037", + "seed": 20630909, + "shared_state": "success/scene_000037/shared_state.npz", + "video": "success/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000038/left.json", + "scene_id": "success/scene_000038", + "seed": 20640909, + "shared_state": "success/scene_000038/shared_state.npz", + "video": "success/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000038/front.json", + "scene_id": "success/scene_000038", + "seed": 20640909, + "shared_state": "success/scene_000038/shared_state.npz", + "video": "success/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000038/right.json", + "scene_id": "success/scene_000038", + "seed": 20640909, + "shared_state": "success/scene_000038/shared_state.npz", + "video": "success/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000039/left.json", + "scene_id": "success/scene_000039", + "seed": 20650909, + "shared_state": "success/scene_000039/shared_state.npz", + "video": "success/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000039/front.json", + "scene_id": "success/scene_000039", + "seed": 20650909, + "shared_state": "success/scene_000039/shared_state.npz", + "video": "success/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000039/right.json", + "scene_id": "success/scene_000039", + "seed": 20650909, + "shared_state": "success/scene_000039/shared_state.npz", + "video": "success/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000040/left.json", + "scene_id": "success/scene_000040", + "seed": 20660909, + "shared_state": "success/scene_000040/shared_state.npz", + "video": "success/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000040/front.json", + "scene_id": "success/scene_000040", + "seed": 20660909, + "shared_state": "success/scene_000040/shared_state.npz", + "video": "success/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000040/right.json", + "scene_id": "success/scene_000040", + "seed": 20660909, + "shared_state": "success/scene_000040/shared_state.npz", + "video": "success/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000041/left.json", + "scene_id": "success/scene_000041", + "seed": 20670909, + "shared_state": "success/scene_000041/shared_state.npz", + "video": "success/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000041/front.json", + "scene_id": "success/scene_000041", + "seed": 20670909, + "shared_state": "success/scene_000041/shared_state.npz", + "video": "success/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000041/right.json", + "scene_id": "success/scene_000041", + "seed": 20670909, + "shared_state": "success/scene_000041/shared_state.npz", + "video": "success/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000042/left.json", + "scene_id": "success/scene_000042", + "seed": 20680909, + "shared_state": "success/scene_000042/shared_state.npz", + "video": "success/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000042/front.json", + "scene_id": "success/scene_000042", + "seed": 20680909, + "shared_state": "success/scene_000042/shared_state.npz", + "video": "success/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000042/right.json", + "scene_id": "success/scene_000042", + "seed": 20680909, + "shared_state": "success/scene_000042/shared_state.npz", + "video": "success/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000043/left.json", + "scene_id": "success/scene_000043", + "seed": 20690909, + "shared_state": "success/scene_000043/shared_state.npz", + "video": "success/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000043/front.json", + "scene_id": "success/scene_000043", + "seed": 20690909, + "shared_state": "success/scene_000043/shared_state.npz", + "video": "success/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000043/right.json", + "scene_id": "success/scene_000043", + "seed": 20690909, + "shared_state": "success/scene_000043/shared_state.npz", + "video": "success/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000044/left.json", + "scene_id": "success/scene_000044", + "seed": 20700912, + "shared_state": "success/scene_000044/shared_state.npz", + "video": "success/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000044/front.json", + "scene_id": "success/scene_000044", + "seed": 20700912, + "shared_state": "success/scene_000044/shared_state.npz", + "video": "success/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000044/right.json", + "scene_id": "success/scene_000044", + "seed": 20700912, + "shared_state": "success/scene_000044/shared_state.npz", + "video": "success/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000045/left.json", + "scene_id": "success/scene_000045", + "seed": 20710909, + "shared_state": "success/scene_000045/shared_state.npz", + "video": "success/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000045/front.json", + "scene_id": "success/scene_000045", + "seed": 20710909, + "shared_state": "success/scene_000045/shared_state.npz", + "video": "success/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000045/right.json", + "scene_id": "success/scene_000045", + "seed": 20710909, + "shared_state": "success/scene_000045/shared_state.npz", + "video": "success/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000046/left.json", + "scene_id": "success/scene_000046", + "seed": 20720909, + "shared_state": "success/scene_000046/shared_state.npz", + "video": "success/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000046/front.json", + "scene_id": "success/scene_000046", + "seed": 20720909, + "shared_state": "success/scene_000046/shared_state.npz", + "video": "success/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000046/right.json", + "scene_id": "success/scene_000046", + "seed": 20720909, + "shared_state": "success/scene_000046/shared_state.npz", + "video": "success/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000047/left.json", + "scene_id": "success/scene_000047", + "seed": 20730909, + "shared_state": "success/scene_000047/shared_state.npz", + "video": "success/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000047/front.json", + "scene_id": "success/scene_000047", + "seed": 20730909, + "shared_state": "success/scene_000047/shared_state.npz", + "video": "success/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000047/right.json", + "scene_id": "success/scene_000047", + "seed": 20730909, + "shared_state": "success/scene_000047/shared_state.npz", + "video": "success/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000048/left.json", + "scene_id": "success/scene_000048", + "seed": 20740909, + "shared_state": "success/scene_000048/shared_state.npz", + "video": "success/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000048/front.json", + "scene_id": "success/scene_000048", + "seed": 20740909, + "shared_state": "success/scene_000048/shared_state.npz", + "video": "success/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000048/right.json", + "scene_id": "success/scene_000048", + "seed": 20740909, + "shared_state": "success/scene_000048/shared_state.npz", + "video": "success/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000049/left.json", + "scene_id": "success/scene_000049", + "seed": 20750909, + "shared_state": "success/scene_000049/shared_state.npz", + "video": "success/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000049/front.json", + "scene_id": "success/scene_000049", + "seed": 20750909, + "shared_state": "success/scene_000049/shared_state.npz", + "video": "success/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000049/right.json", + "scene_id": "success/scene_000049", + "seed": 20750909, + "shared_state": "success/scene_000049/shared_state.npz", + "video": "success/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000050/left.json", + "scene_id": "success/scene_000050", + "seed": 20760909, + "shared_state": "success/scene_000050/shared_state.npz", + "video": "success/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000050/front.json", + "scene_id": "success/scene_000050", + "seed": 20760909, + "shared_state": "success/scene_000050/shared_state.npz", + "video": "success/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000050/right.json", + "scene_id": "success/scene_000050", + "seed": 20760909, + "shared_state": "success/scene_000050/shared_state.npz", + "video": "success/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000051/left.json", + "scene_id": "success/scene_000051", + "seed": 20770910, + "shared_state": "success/scene_000051/shared_state.npz", + "video": "success/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000051/front.json", + "scene_id": "success/scene_000051", + "seed": 20770910, + "shared_state": "success/scene_000051/shared_state.npz", + "video": "success/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000051/right.json", + "scene_id": "success/scene_000051", + "seed": 20770910, + "shared_state": "success/scene_000051/shared_state.npz", + "video": "success/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000052/left.json", + "scene_id": "success/scene_000052", + "seed": 20780909, + "shared_state": "success/scene_000052/shared_state.npz", + "video": "success/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000052/front.json", + "scene_id": "success/scene_000052", + "seed": 20780909, + "shared_state": "success/scene_000052/shared_state.npz", + "video": "success/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000052/right.json", + "scene_id": "success/scene_000052", + "seed": 20780909, + "shared_state": "success/scene_000052/shared_state.npz", + "video": "success/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000053/left.json", + "scene_id": "success/scene_000053", + "seed": 20790909, + "shared_state": "success/scene_000053/shared_state.npz", + "video": "success/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000053/front.json", + "scene_id": "success/scene_000053", + "seed": 20790909, + "shared_state": "success/scene_000053/shared_state.npz", + "video": "success/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000053/right.json", + "scene_id": "success/scene_000053", + "seed": 20790909, + "shared_state": "success/scene_000053/shared_state.npz", + "video": "success/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000054/left.json", + "scene_id": "success/scene_000054", + "seed": 20800909, + "shared_state": "success/scene_000054/shared_state.npz", + "video": "success/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000054/front.json", + "scene_id": "success/scene_000054", + "seed": 20800909, + "shared_state": "success/scene_000054/shared_state.npz", + "video": "success/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000054/right.json", + "scene_id": "success/scene_000054", + "seed": 20800909, + "shared_state": "success/scene_000054/shared_state.npz", + "video": "success/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000055/left.json", + "scene_id": "success/scene_000055", + "seed": 20810909, + "shared_state": "success/scene_000055/shared_state.npz", + "video": "success/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000055/front.json", + "scene_id": "success/scene_000055", + "seed": 20810909, + "shared_state": "success/scene_000055/shared_state.npz", + "video": "success/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000055/right.json", + "scene_id": "success/scene_000055", + "seed": 20810909, + "shared_state": "success/scene_000055/shared_state.npz", + "video": "success/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000056/left.json", + "scene_id": "success/scene_000056", + "seed": 20820910, + "shared_state": "success/scene_000056/shared_state.npz", + "video": "success/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000056/front.json", + "scene_id": "success/scene_000056", + "seed": 20820910, + "shared_state": "success/scene_000056/shared_state.npz", + "video": "success/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000056/right.json", + "scene_id": "success/scene_000056", + "seed": 20820910, + "shared_state": "success/scene_000056/shared_state.npz", + "video": "success/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000057/left.json", + "scene_id": "success/scene_000057", + "seed": 20830910, + "shared_state": "success/scene_000057/shared_state.npz", + "video": "success/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000057/front.json", + "scene_id": "success/scene_000057", + "seed": 20830910, + "shared_state": "success/scene_000057/shared_state.npz", + "video": "success/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000057/right.json", + "scene_id": "success/scene_000057", + "seed": 20830910, + "shared_state": "success/scene_000057/shared_state.npz", + "video": "success/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000058/left.json", + "scene_id": "success/scene_000058", + "seed": 20840909, + "shared_state": "success/scene_000058/shared_state.npz", + "video": "success/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000058/front.json", + "scene_id": "success/scene_000058", + "seed": 20840909, + "shared_state": "success/scene_000058/shared_state.npz", + "video": "success/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000058/right.json", + "scene_id": "success/scene_000058", + "seed": 20840909, + "shared_state": "success/scene_000058/shared_state.npz", + "video": "success/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000059/left.json", + "scene_id": "success/scene_000059", + "seed": 20850909, + "shared_state": "success/scene_000059/shared_state.npz", + "video": "success/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000059/front.json", + "scene_id": "success/scene_000059", + "seed": 20850909, + "shared_state": "success/scene_000059/shared_state.npz", + "video": "success/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000059/right.json", + "scene_id": "success/scene_000059", + "seed": 20850909, + "shared_state": "success/scene_000059/shared_state.npz", + "video": "success/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000060/left.json", + "scene_id": "success/scene_000060", + "seed": 20860909, + "shared_state": "success/scene_000060/shared_state.npz", + "video": "success/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000060/front.json", + "scene_id": "success/scene_000060", + "seed": 20860909, + "shared_state": "success/scene_000060/shared_state.npz", + "video": "success/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000060/right.json", + "scene_id": "success/scene_000060", + "seed": 20860909, + "shared_state": "success/scene_000060/shared_state.npz", + "video": "success/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000061/left.json", + "scene_id": "success/scene_000061", + "seed": 20870909, + "shared_state": "success/scene_000061/shared_state.npz", + "video": "success/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000061/front.json", + "scene_id": "success/scene_000061", + "seed": 20870909, + "shared_state": "success/scene_000061/shared_state.npz", + "video": "success/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000061/right.json", + "scene_id": "success/scene_000061", + "seed": 20870909, + "shared_state": "success/scene_000061/shared_state.npz", + "video": "success/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000062/left.json", + "scene_id": "success/scene_000062", + "seed": 20880909, + "shared_state": "success/scene_000062/shared_state.npz", + "video": "success/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000062/front.json", + "scene_id": "success/scene_000062", + "seed": 20880909, + "shared_state": "success/scene_000062/shared_state.npz", + "video": "success/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000062/right.json", + "scene_id": "success/scene_000062", + "seed": 20880909, + "shared_state": "success/scene_000062/shared_state.npz", + "video": "success/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000063/left.json", + "scene_id": "success/scene_000063", + "seed": 20890909, + "shared_state": "success/scene_000063/shared_state.npz", + "video": "success/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000063/front.json", + "scene_id": "success/scene_000063", + "seed": 20890909, + "shared_state": "success/scene_000063/shared_state.npz", + "video": "success/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000063/right.json", + "scene_id": "success/scene_000063", + "seed": 20890909, + "shared_state": "success/scene_000063/shared_state.npz", + "video": "success/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000064/left.json", + "scene_id": "success/scene_000064", + "seed": 20900911, + "shared_state": "success/scene_000064/shared_state.npz", + "video": "success/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000064/front.json", + "scene_id": "success/scene_000064", + "seed": 20900911, + "shared_state": "success/scene_000064/shared_state.npz", + "video": "success/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000064/right.json", + "scene_id": "success/scene_000064", + "seed": 20900911, + "shared_state": "success/scene_000064/shared_state.npz", + "video": "success/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000065/left.json", + "scene_id": "success/scene_000065", + "seed": 20910910, + "shared_state": "success/scene_000065/shared_state.npz", + "video": "success/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000065/front.json", + "scene_id": "success/scene_000065", + "seed": 20910910, + "shared_state": "success/scene_000065/shared_state.npz", + "video": "success/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000065/right.json", + "scene_id": "success/scene_000065", + "seed": 20910910, + "shared_state": "success/scene_000065/shared_state.npz", + "video": "success/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000066/left.json", + "scene_id": "success/scene_000066", + "seed": 20920910, + "shared_state": "success/scene_000066/shared_state.npz", + "video": "success/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000066/front.json", + "scene_id": "success/scene_000066", + "seed": 20920910, + "shared_state": "success/scene_000066/shared_state.npz", + "video": "success/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000066/right.json", + "scene_id": "success/scene_000066", + "seed": 20920910, + "shared_state": "success/scene_000066/shared_state.npz", + "video": "success/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000067/left.json", + "scene_id": "success/scene_000067", + "seed": 20930909, + "shared_state": "success/scene_000067/shared_state.npz", + "video": "success/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000067/front.json", + "scene_id": "success/scene_000067", + "seed": 20930909, + "shared_state": "success/scene_000067/shared_state.npz", + "video": "success/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000067/right.json", + "scene_id": "success/scene_000067", + "seed": 20930909, + "shared_state": "success/scene_000067/shared_state.npz", + "video": "success/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000068/left.json", + "scene_id": "success/scene_000068", + "seed": 20940909, + "shared_state": "success/scene_000068/shared_state.npz", + "video": "success/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000068/front.json", + "scene_id": "success/scene_000068", + "seed": 20940909, + "shared_state": "success/scene_000068/shared_state.npz", + "video": "success/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000068/right.json", + "scene_id": "success/scene_000068", + "seed": 20940909, + "shared_state": "success/scene_000068/shared_state.npz", + "video": "success/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000069/left.json", + "scene_id": "success/scene_000069", + "seed": 20950910, + "shared_state": "success/scene_000069/shared_state.npz", + "video": "success/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000069/front.json", + "scene_id": "success/scene_000069", + "seed": 20950910, + "shared_state": "success/scene_000069/shared_state.npz", + "video": "success/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000069/right.json", + "scene_id": "success/scene_000069", + "seed": 20950910, + "shared_state": "success/scene_000069/shared_state.npz", + "video": "success/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000070/left.json", + "scene_id": "success/scene_000070", + "seed": 20960909, + "shared_state": "success/scene_000070/shared_state.npz", + "video": "success/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000070/front.json", + "scene_id": "success/scene_000070", + "seed": 20960909, + "shared_state": "success/scene_000070/shared_state.npz", + "video": "success/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000070/right.json", + "scene_id": "success/scene_000070", + "seed": 20960909, + "shared_state": "success/scene_000070/shared_state.npz", + "video": "success/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000071/left.json", + "scene_id": "success/scene_000071", + "seed": 20970909, + "shared_state": "success/scene_000071/shared_state.npz", + "video": "success/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000071/front.json", + "scene_id": "success/scene_000071", + "seed": 20970909, + "shared_state": "success/scene_000071/shared_state.npz", + "video": "success/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000071/right.json", + "scene_id": "success/scene_000071", + "seed": 20970909, + "shared_state": "success/scene_000071/shared_state.npz", + "video": "success/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000072/left.json", + "scene_id": "success/scene_000072", + "seed": 20980909, + "shared_state": "success/scene_000072/shared_state.npz", + "video": "success/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000072/front.json", + "scene_id": "success/scene_000072", + "seed": 20980909, + "shared_state": "success/scene_000072/shared_state.npz", + "video": "success/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000072/right.json", + "scene_id": "success/scene_000072", + "seed": 20980909, + "shared_state": "success/scene_000072/shared_state.npz", + "video": "success/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000073/left.json", + "scene_id": "success/scene_000073", + "seed": 20990914, + "shared_state": "success/scene_000073/shared_state.npz", + "video": "success/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000073/front.json", + "scene_id": "success/scene_000073", + "seed": 20990914, + "shared_state": "success/scene_000073/shared_state.npz", + "video": "success/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000073/right.json", + "scene_id": "success/scene_000073", + "seed": 20990914, + "shared_state": "success/scene_000073/shared_state.npz", + "video": "success/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000074/left.json", + "scene_id": "success/scene_000074", + "seed": 21000910, + "shared_state": "success/scene_000074/shared_state.npz", + "video": "success/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000074/front.json", + "scene_id": "success/scene_000074", + "seed": 21000910, + "shared_state": "success/scene_000074/shared_state.npz", + "video": "success/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000074/right.json", + "scene_id": "success/scene_000074", + "seed": 21000910, + "shared_state": "success/scene_000074/shared_state.npz", + "video": "success/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000075/left.json", + "scene_id": "success/scene_000075", + "seed": 21010909, + "shared_state": "success/scene_000075/shared_state.npz", + "video": "success/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000075/front.json", + "scene_id": "success/scene_000075", + "seed": 21010909, + "shared_state": "success/scene_000075/shared_state.npz", + "video": "success/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000075/right.json", + "scene_id": "success/scene_000075", + "seed": 21010909, + "shared_state": "success/scene_000075/shared_state.npz", + "video": "success/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000076/left.json", + "scene_id": "success/scene_000076", + "seed": 21020909, + "shared_state": "success/scene_000076/shared_state.npz", + "video": "success/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000076/front.json", + "scene_id": "success/scene_000076", + "seed": 21020909, + "shared_state": "success/scene_000076/shared_state.npz", + "video": "success/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000076/right.json", + "scene_id": "success/scene_000076", + "seed": 21020909, + "shared_state": "success/scene_000076/shared_state.npz", + "video": "success/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000077/left.json", + "scene_id": "success/scene_000077", + "seed": 21030909, + "shared_state": "success/scene_000077/shared_state.npz", + "video": "success/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000077/front.json", + "scene_id": "success/scene_000077", + "seed": 21030909, + "shared_state": "success/scene_000077/shared_state.npz", + "video": "success/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000077/right.json", + "scene_id": "success/scene_000077", + "seed": 21030909, + "shared_state": "success/scene_000077/shared_state.npz", + "video": "success/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000078/left.json", + "scene_id": "success/scene_000078", + "seed": 21040909, + "shared_state": "success/scene_000078/shared_state.npz", + "video": "success/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000078/front.json", + "scene_id": "success/scene_000078", + "seed": 21040909, + "shared_state": "success/scene_000078/shared_state.npz", + "video": "success/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000078/right.json", + "scene_id": "success/scene_000078", + "seed": 21040909, + "shared_state": "success/scene_000078/shared_state.npz", + "video": "success/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000079/left.json", + "scene_id": "success/scene_000079", + "seed": 21050910, + "shared_state": "success/scene_000079/shared_state.npz", + "video": "success/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000079/front.json", + "scene_id": "success/scene_000079", + "seed": 21050910, + "shared_state": "success/scene_000079/shared_state.npz", + "video": "success/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000079/right.json", + "scene_id": "success/scene_000079", + "seed": 21050910, + "shared_state": "success/scene_000079/shared_state.npz", + "video": "success/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000080/left.json", + "scene_id": "success/scene_000080", + "seed": 21060909, + "shared_state": "success/scene_000080/shared_state.npz", + "video": "success/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000080/front.json", + "scene_id": "success/scene_000080", + "seed": 21060909, + "shared_state": "success/scene_000080/shared_state.npz", + "video": "success/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000080/right.json", + "scene_id": "success/scene_000080", + "seed": 21060909, + "shared_state": "success/scene_000080/shared_state.npz", + "video": "success/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000081/left.json", + "scene_id": "success/scene_000081", + "seed": 21070911, + "shared_state": "success/scene_000081/shared_state.npz", + "video": "success/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000081/front.json", + "scene_id": "success/scene_000081", + "seed": 21070911, + "shared_state": "success/scene_000081/shared_state.npz", + "video": "success/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000081/right.json", + "scene_id": "success/scene_000081", + "seed": 21070911, + "shared_state": "success/scene_000081/shared_state.npz", + "video": "success/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000082/left.json", + "scene_id": "success/scene_000082", + "seed": 21080909, + "shared_state": "success/scene_000082/shared_state.npz", + "video": "success/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000082/front.json", + "scene_id": "success/scene_000082", + "seed": 21080909, + "shared_state": "success/scene_000082/shared_state.npz", + "video": "success/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000082/right.json", + "scene_id": "success/scene_000082", + "seed": 21080909, + "shared_state": "success/scene_000082/shared_state.npz", + "video": "success/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000083/left.json", + "scene_id": "success/scene_000083", + "seed": 21090909, + "shared_state": "success/scene_000083/shared_state.npz", + "video": "success/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000083/front.json", + "scene_id": "success/scene_000083", + "seed": 21090909, + "shared_state": "success/scene_000083/shared_state.npz", + "video": "success/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000083/right.json", + "scene_id": "success/scene_000083", + "seed": 21090909, + "shared_state": "success/scene_000083/shared_state.npz", + "video": "success/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000084/left.json", + "scene_id": "success/scene_000084", + "seed": 21100910, + "shared_state": "success/scene_000084/shared_state.npz", + "video": "success/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000084/front.json", + "scene_id": "success/scene_000084", + "seed": 21100910, + "shared_state": "success/scene_000084/shared_state.npz", + "video": "success/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000084/right.json", + "scene_id": "success/scene_000084", + "seed": 21100910, + "shared_state": "success/scene_000084/shared_state.npz", + "video": "success/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000085/left.json", + "scene_id": "success/scene_000085", + "seed": 21110909, + "shared_state": "success/scene_000085/shared_state.npz", + "video": "success/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000085/front.json", + "scene_id": "success/scene_000085", + "seed": 21110909, + "shared_state": "success/scene_000085/shared_state.npz", + "video": "success/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000085/right.json", + "scene_id": "success/scene_000085", + "seed": 21110909, + "shared_state": "success/scene_000085/shared_state.npz", + "video": "success/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000086/left.json", + "scene_id": "success/scene_000086", + "seed": 21120909, + "shared_state": "success/scene_000086/shared_state.npz", + "video": "success/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000086/front.json", + "scene_id": "success/scene_000086", + "seed": 21120909, + "shared_state": "success/scene_000086/shared_state.npz", + "video": "success/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000086/right.json", + "scene_id": "success/scene_000086", + "seed": 21120909, + "shared_state": "success/scene_000086/shared_state.npz", + "video": "success/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000087/left.json", + "scene_id": "success/scene_000087", + "seed": 21130909, + "shared_state": "success/scene_000087/shared_state.npz", + "video": "success/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000087/front.json", + "scene_id": "success/scene_000087", + "seed": 21130909, + "shared_state": "success/scene_000087/shared_state.npz", + "video": "success/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000087/right.json", + "scene_id": "success/scene_000087", + "seed": 21130909, + "shared_state": "success/scene_000087/shared_state.npz", + "video": "success/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000088/left.json", + "scene_id": "success/scene_000088", + "seed": 21140909, + "shared_state": "success/scene_000088/shared_state.npz", + "video": "success/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000088/front.json", + "scene_id": "success/scene_000088", + "seed": 21140909, + "shared_state": "success/scene_000088/shared_state.npz", + "video": "success/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000088/right.json", + "scene_id": "success/scene_000088", + "seed": 21140909, + "shared_state": "success/scene_000088/shared_state.npz", + "video": "success/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000089/left.json", + "scene_id": "success/scene_000089", + "seed": 21150909, + "shared_state": "success/scene_000089/shared_state.npz", + "video": "success/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000089/front.json", + "scene_id": "success/scene_000089", + "seed": 21150909, + "shared_state": "success/scene_000089/shared_state.npz", + "video": "success/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000089/right.json", + "scene_id": "success/scene_000089", + "seed": 21150909, + "shared_state": "success/scene_000089/shared_state.npz", + "video": "success/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000090/left.json", + "scene_id": "success/scene_000090", + "seed": 21160909, + "shared_state": "success/scene_000090/shared_state.npz", + "video": "success/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000090/front.json", + "scene_id": "success/scene_000090", + "seed": 21160909, + "shared_state": "success/scene_000090/shared_state.npz", + "video": "success/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000090/right.json", + "scene_id": "success/scene_000090", + "seed": 21160909, + "shared_state": "success/scene_000090/shared_state.npz", + "video": "success/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000091/left.json", + "scene_id": "success/scene_000091", + "seed": 21170909, + "shared_state": "success/scene_000091/shared_state.npz", + "video": "success/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000091/front.json", + "scene_id": "success/scene_000091", + "seed": 21170909, + "shared_state": "success/scene_000091/shared_state.npz", + "video": "success/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000091/right.json", + "scene_id": "success/scene_000091", + "seed": 21170909, + "shared_state": "success/scene_000091/shared_state.npz", + "video": "success/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000092/left.json", + "scene_id": "success/scene_000092", + "seed": 21180909, + "shared_state": "success/scene_000092/shared_state.npz", + "video": "success/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000092/front.json", + "scene_id": "success/scene_000092", + "seed": 21180909, + "shared_state": "success/scene_000092/shared_state.npz", + "video": "success/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000092/right.json", + "scene_id": "success/scene_000092", + "seed": 21180909, + "shared_state": "success/scene_000092/shared_state.npz", + "video": "success/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000093/left.json", + "scene_id": "success/scene_000093", + "seed": 21190912, + "shared_state": "success/scene_000093/shared_state.npz", + "video": "success/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000093/front.json", + "scene_id": "success/scene_000093", + "seed": 21190912, + "shared_state": "success/scene_000093/shared_state.npz", + "video": "success/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000093/right.json", + "scene_id": "success/scene_000093", + "seed": 21190912, + "shared_state": "success/scene_000093/shared_state.npz", + "video": "success/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000094/left.json", + "scene_id": "success/scene_000094", + "seed": 21200909, + "shared_state": "success/scene_000094/shared_state.npz", + "video": "success/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000094/front.json", + "scene_id": "success/scene_000094", + "seed": 21200909, + "shared_state": "success/scene_000094/shared_state.npz", + "video": "success/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000094/right.json", + "scene_id": "success/scene_000094", + "seed": 21200909, + "shared_state": "success/scene_000094/shared_state.npz", + "video": "success/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000095/left.json", + "scene_id": "success/scene_000095", + "seed": 21210909, + "shared_state": "success/scene_000095/shared_state.npz", + "video": "success/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000095/front.json", + "scene_id": "success/scene_000095", + "seed": 21210909, + "shared_state": "success/scene_000095/shared_state.npz", + "video": "success/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000095/right.json", + "scene_id": "success/scene_000095", + "seed": 21210909, + "shared_state": "success/scene_000095/shared_state.npz", + "video": "success/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000096/left.json", + "scene_id": "success/scene_000096", + "seed": 21220909, + "shared_state": "success/scene_000096/shared_state.npz", + "video": "success/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000096/front.json", + "scene_id": "success/scene_000096", + "seed": 21220909, + "shared_state": "success/scene_000096/shared_state.npz", + "video": "success/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000096/right.json", + "scene_id": "success/scene_000096", + "seed": 21220909, + "shared_state": "success/scene_000096/shared_state.npz", + "video": "success/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000097/left.json", + "scene_id": "success/scene_000097", + "seed": 21230909, + "shared_state": "success/scene_000097/shared_state.npz", + "video": "success/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000097/front.json", + "scene_id": "success/scene_000097", + "seed": 21230909, + "shared_state": "success/scene_000097/shared_state.npz", + "video": "success/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000097/right.json", + "scene_id": "success/scene_000097", + "seed": 21230909, + "shared_state": "success/scene_000097/shared_state.npz", + "video": "success/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000098/left.json", + "scene_id": "success/scene_000098", + "seed": 21240909, + "shared_state": "success/scene_000098/shared_state.npz", + "video": "success/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000098/front.json", + "scene_id": "success/scene_000098", + "seed": 21240909, + "shared_state": "success/scene_000098/shared_state.npz", + "video": "success/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000098/right.json", + "scene_id": "success/scene_000098", + "seed": 21240909, + "shared_state": "success/scene_000098/shared_state.npz", + "video": "success/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000099/left.json", + "scene_id": "success/scene_000099", + "seed": 21250909, + "shared_state": "success/scene_000099/shared_state.npz", + "video": "success/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000099/front.json", + "scene_id": "success/scene_000099", + "seed": 21250909, + "shared_state": "success/scene_000099/shared_state.npz", + "video": "success/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": true, + "metadata": "success/scene_000099/right.json", + "scene_id": "success/scene_000099", + "seed": 21250909, + "shared_state": "success/scene_000099/shared_state.npz", + "video": "success/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000100/left.json", + "scene_id": "success/scene_000100", + "seed": 101000000, + "shared_state": "success/scene_000100/shared_state.npz", + "video": "success/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000100/front.json", + "scene_id": "success/scene_000100", + "seed": 101000000, + "shared_state": "success/scene_000100/shared_state.npz", + "video": "success/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000100/right.json", + "scene_id": "success/scene_000100", + "seed": 101000000, + "shared_state": "success/scene_000100/shared_state.npz", + "video": "success/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000101/left.json", + "scene_id": "success/scene_000101", + "seed": 101010000, + "shared_state": "success/scene_000101/shared_state.npz", + "video": "success/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000101/front.json", + "scene_id": "success/scene_000101", + "seed": 101010000, + "shared_state": "success/scene_000101/shared_state.npz", + "video": "success/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000101/right.json", + "scene_id": "success/scene_000101", + "seed": 101010000, + "shared_state": "success/scene_000101/shared_state.npz", + "video": "success/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000102/left.json", + "scene_id": "success/scene_000102", + "seed": 101020000, + "shared_state": "success/scene_000102/shared_state.npz", + "video": "success/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000102/front.json", + "scene_id": "success/scene_000102", + "seed": 101020000, + "shared_state": "success/scene_000102/shared_state.npz", + "video": "success/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000102/right.json", + "scene_id": "success/scene_000102", + "seed": 101020000, + "shared_state": "success/scene_000102/shared_state.npz", + "video": "success/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000103/left.json", + "scene_id": "success/scene_000103", + "seed": 101030000, + "shared_state": "success/scene_000103/shared_state.npz", + "video": "success/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000103/front.json", + "scene_id": "success/scene_000103", + "seed": 101030000, + "shared_state": "success/scene_000103/shared_state.npz", + "video": "success/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000103/right.json", + "scene_id": "success/scene_000103", + "seed": 101030000, + "shared_state": "success/scene_000103/shared_state.npz", + "video": "success/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000104/left.json", + "scene_id": "success/scene_000104", + "seed": 101040000, + "shared_state": "success/scene_000104/shared_state.npz", + "video": "success/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000104/front.json", + "scene_id": "success/scene_000104", + "seed": 101040000, + "shared_state": "success/scene_000104/shared_state.npz", + "video": "success/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000104/right.json", + "scene_id": "success/scene_000104", + "seed": 101040000, + "shared_state": "success/scene_000104/shared_state.npz", + "video": "success/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000105/left.json", + "scene_id": "success/scene_000105", + "seed": 101050000, + "shared_state": "success/scene_000105/shared_state.npz", + "video": "success/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000105/front.json", + "scene_id": "success/scene_000105", + "seed": 101050000, + "shared_state": "success/scene_000105/shared_state.npz", + "video": "success/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000105/right.json", + "scene_id": "success/scene_000105", + "seed": 101050000, + "shared_state": "success/scene_000105/shared_state.npz", + "video": "success/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000106/left.json", + "scene_id": "success/scene_000106", + "seed": 101060000, + "shared_state": "success/scene_000106/shared_state.npz", + "video": "success/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000106/front.json", + "scene_id": "success/scene_000106", + "seed": 101060000, + "shared_state": "success/scene_000106/shared_state.npz", + "video": "success/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000106/right.json", + "scene_id": "success/scene_000106", + "seed": 101060000, + "shared_state": "success/scene_000106/shared_state.npz", + "video": "success/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000107/left.json", + "scene_id": "success/scene_000107", + "seed": 101070000, + "shared_state": "success/scene_000107/shared_state.npz", + "video": "success/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000107/front.json", + "scene_id": "success/scene_000107", + "seed": 101070000, + "shared_state": "success/scene_000107/shared_state.npz", + "video": "success/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000107/right.json", + "scene_id": "success/scene_000107", + "seed": 101070000, + "shared_state": "success/scene_000107/shared_state.npz", + "video": "success/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000108/left.json", + "scene_id": "success/scene_000108", + "seed": 101080000, + "shared_state": "success/scene_000108/shared_state.npz", + "video": "success/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000108/front.json", + "scene_id": "success/scene_000108", + "seed": 101080000, + "shared_state": "success/scene_000108/shared_state.npz", + "video": "success/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000108/right.json", + "scene_id": "success/scene_000108", + "seed": 101080000, + "shared_state": "success/scene_000108/shared_state.npz", + "video": "success/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000109/left.json", + "scene_id": "success/scene_000109", + "seed": 101090000, + "shared_state": "success/scene_000109/shared_state.npz", + "video": "success/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000109/front.json", + "scene_id": "success/scene_000109", + "seed": 101090000, + "shared_state": "success/scene_000109/shared_state.npz", + "video": "success/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000109/right.json", + "scene_id": "success/scene_000109", + "seed": 101090000, + "shared_state": "success/scene_000109/shared_state.npz", + "video": "success/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000110/left.json", + "scene_id": "success/scene_000110", + "seed": 101100000, + "shared_state": "success/scene_000110/shared_state.npz", + "video": "success/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000110/front.json", + "scene_id": "success/scene_000110", + "seed": 101100000, + "shared_state": "success/scene_000110/shared_state.npz", + "video": "success/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000110/right.json", + "scene_id": "success/scene_000110", + "seed": 101100000, + "shared_state": "success/scene_000110/shared_state.npz", + "video": "success/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000111/left.json", + "scene_id": "success/scene_000111", + "seed": 101110000, + "shared_state": "success/scene_000111/shared_state.npz", + "video": "success/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000111/front.json", + "scene_id": "success/scene_000111", + "seed": 101110000, + "shared_state": "success/scene_000111/shared_state.npz", + "video": "success/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000111/right.json", + "scene_id": "success/scene_000111", + "seed": 101110000, + "shared_state": "success/scene_000111/shared_state.npz", + "video": "success/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000112/left.json", + "scene_id": "success/scene_000112", + "seed": 101120000, + "shared_state": "success/scene_000112/shared_state.npz", + "video": "success/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000112/front.json", + "scene_id": "success/scene_000112", + "seed": 101120000, + "shared_state": "success/scene_000112/shared_state.npz", + "video": "success/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000112/right.json", + "scene_id": "success/scene_000112", + "seed": 101120000, + "shared_state": "success/scene_000112/shared_state.npz", + "video": "success/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000113/left.json", + "scene_id": "success/scene_000113", + "seed": 101130000, + "shared_state": "success/scene_000113/shared_state.npz", + "video": "success/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000113/front.json", + "scene_id": "success/scene_000113", + "seed": 101130000, + "shared_state": "success/scene_000113/shared_state.npz", + "video": "success/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000113/right.json", + "scene_id": "success/scene_000113", + "seed": 101130000, + "shared_state": "success/scene_000113/shared_state.npz", + "video": "success/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000114/left.json", + "scene_id": "success/scene_000114", + "seed": 101140000, + "shared_state": "success/scene_000114/shared_state.npz", + "video": "success/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000114/front.json", + "scene_id": "success/scene_000114", + "seed": 101140000, + "shared_state": "success/scene_000114/shared_state.npz", + "video": "success/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000114/right.json", + "scene_id": "success/scene_000114", + "seed": 101140000, + "shared_state": "success/scene_000114/shared_state.npz", + "video": "success/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000115/left.json", + "scene_id": "success/scene_000115", + "seed": 101150000, + "shared_state": "success/scene_000115/shared_state.npz", + "video": "success/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000115/front.json", + "scene_id": "success/scene_000115", + "seed": 101150000, + "shared_state": "success/scene_000115/shared_state.npz", + "video": "success/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000115/right.json", + "scene_id": "success/scene_000115", + "seed": 101150000, + "shared_state": "success/scene_000115/shared_state.npz", + "video": "success/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000116/left.json", + "scene_id": "success/scene_000116", + "seed": 101160000, + "shared_state": "success/scene_000116/shared_state.npz", + "video": "success/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000116/front.json", + "scene_id": "success/scene_000116", + "seed": 101160000, + "shared_state": "success/scene_000116/shared_state.npz", + "video": "success/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000116/right.json", + "scene_id": "success/scene_000116", + "seed": 101160000, + "shared_state": "success/scene_000116/shared_state.npz", + "video": "success/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000117/left.json", + "scene_id": "success/scene_000117", + "seed": 101170000, + "shared_state": "success/scene_000117/shared_state.npz", + "video": "success/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000117/front.json", + "scene_id": "success/scene_000117", + "seed": 101170000, + "shared_state": "success/scene_000117/shared_state.npz", + "video": "success/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000117/right.json", + "scene_id": "success/scene_000117", + "seed": 101170000, + "shared_state": "success/scene_000117/shared_state.npz", + "video": "success/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000118/left.json", + "scene_id": "success/scene_000118", + "seed": 101180000, + "shared_state": "success/scene_000118/shared_state.npz", + "video": "success/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000118/front.json", + "scene_id": "success/scene_000118", + "seed": 101180000, + "shared_state": "success/scene_000118/shared_state.npz", + "video": "success/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000118/right.json", + "scene_id": "success/scene_000118", + "seed": 101180000, + "shared_state": "success/scene_000118/shared_state.npz", + "video": "success/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000119/left.json", + "scene_id": "success/scene_000119", + "seed": 101190000, + "shared_state": "success/scene_000119/shared_state.npz", + "video": "success/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000119/front.json", + "scene_id": "success/scene_000119", + "seed": 101190000, + "shared_state": "success/scene_000119/shared_state.npz", + "video": "success/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000119/right.json", + "scene_id": "success/scene_000119", + "seed": 101190000, + "shared_state": "success/scene_000119/shared_state.npz", + "video": "success/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000120/left.json", + "scene_id": "success/scene_000120", + "seed": 101200000, + "shared_state": "success/scene_000120/shared_state.npz", + "video": "success/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000120/front.json", + "scene_id": "success/scene_000120", + "seed": 101200000, + "shared_state": "success/scene_000120/shared_state.npz", + "video": "success/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000120/right.json", + "scene_id": "success/scene_000120", + "seed": 101200000, + "shared_state": "success/scene_000120/shared_state.npz", + "video": "success/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000121/left.json", + "scene_id": "success/scene_000121", + "seed": 101210000, + "shared_state": "success/scene_000121/shared_state.npz", + "video": "success/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000121/front.json", + "scene_id": "success/scene_000121", + "seed": 101210000, + "shared_state": "success/scene_000121/shared_state.npz", + "video": "success/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000121/right.json", + "scene_id": "success/scene_000121", + "seed": 101210000, + "shared_state": "success/scene_000121/shared_state.npz", + "video": "success/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000122/left.json", + "scene_id": "success/scene_000122", + "seed": 101220000, + "shared_state": "success/scene_000122/shared_state.npz", + "video": "success/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000122/front.json", + "scene_id": "success/scene_000122", + "seed": 101220000, + "shared_state": "success/scene_000122/shared_state.npz", + "video": "success/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000122/right.json", + "scene_id": "success/scene_000122", + "seed": 101220000, + "shared_state": "success/scene_000122/shared_state.npz", + "video": "success/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000123/left.json", + "scene_id": "success/scene_000123", + "seed": 101230000, + "shared_state": "success/scene_000123/shared_state.npz", + "video": "success/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000123/front.json", + "scene_id": "success/scene_000123", + "seed": 101230000, + "shared_state": "success/scene_000123/shared_state.npz", + "video": "success/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000123/right.json", + "scene_id": "success/scene_000123", + "seed": 101230000, + "shared_state": "success/scene_000123/shared_state.npz", + "video": "success/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000124/left.json", + "scene_id": "success/scene_000124", + "seed": 101240000, + "shared_state": "success/scene_000124/shared_state.npz", + "video": "success/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000124/front.json", + "scene_id": "success/scene_000124", + "seed": 101240000, + "shared_state": "success/scene_000124/shared_state.npz", + "video": "success/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000124/right.json", + "scene_id": "success/scene_000124", + "seed": 101240000, + "shared_state": "success/scene_000124/shared_state.npz", + "video": "success/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000125/left.json", + "scene_id": "success/scene_000125", + "seed": 101250000, + "shared_state": "success/scene_000125/shared_state.npz", + "video": "success/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000125/front.json", + "scene_id": "success/scene_000125", + "seed": 101250000, + "shared_state": "success/scene_000125/shared_state.npz", + "video": "success/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000125/right.json", + "scene_id": "success/scene_000125", + "seed": 101250000, + "shared_state": "success/scene_000125/shared_state.npz", + "video": "success/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000126/left.json", + "scene_id": "success/scene_000126", + "seed": 101260000, + "shared_state": "success/scene_000126/shared_state.npz", + "video": "success/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000126/front.json", + "scene_id": "success/scene_000126", + "seed": 101260000, + "shared_state": "success/scene_000126/shared_state.npz", + "video": "success/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000126/right.json", + "scene_id": "success/scene_000126", + "seed": 101260000, + "shared_state": "success/scene_000126/shared_state.npz", + "video": "success/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000127/left.json", + "scene_id": "success/scene_000127", + "seed": 101270000, + "shared_state": "success/scene_000127/shared_state.npz", + "video": "success/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000127/front.json", + "scene_id": "success/scene_000127", + "seed": 101270000, + "shared_state": "success/scene_000127/shared_state.npz", + "video": "success/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000127/right.json", + "scene_id": "success/scene_000127", + "seed": 101270000, + "shared_state": "success/scene_000127/shared_state.npz", + "video": "success/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000128/left.json", + "scene_id": "success/scene_000128", + "seed": 101280000, + "shared_state": "success/scene_000128/shared_state.npz", + "video": "success/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000128/front.json", + "scene_id": "success/scene_000128", + "seed": 101280000, + "shared_state": "success/scene_000128/shared_state.npz", + "video": "success/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000128/right.json", + "scene_id": "success/scene_000128", + "seed": 101280000, + "shared_state": "success/scene_000128/shared_state.npz", + "video": "success/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000129/left.json", + "scene_id": "success/scene_000129", + "seed": 101290000, + "shared_state": "success/scene_000129/shared_state.npz", + "video": "success/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000129/front.json", + "scene_id": "success/scene_000129", + "seed": 101290000, + "shared_state": "success/scene_000129/shared_state.npz", + "video": "success/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000129/right.json", + "scene_id": "success/scene_000129", + "seed": 101290000, + "shared_state": "success/scene_000129/shared_state.npz", + "video": "success/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000130/left.json", + "scene_id": "success/scene_000130", + "seed": 101300000, + "shared_state": "success/scene_000130/shared_state.npz", + "video": "success/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000130/front.json", + "scene_id": "success/scene_000130", + "seed": 101300000, + "shared_state": "success/scene_000130/shared_state.npz", + "video": "success/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000130/right.json", + "scene_id": "success/scene_000130", + "seed": 101300000, + "shared_state": "success/scene_000130/shared_state.npz", + "video": "success/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000131/left.json", + "scene_id": "success/scene_000131", + "seed": 101310000, + "shared_state": "success/scene_000131/shared_state.npz", + "video": "success/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000131/front.json", + "scene_id": "success/scene_000131", + "seed": 101310000, + "shared_state": "success/scene_000131/shared_state.npz", + "video": "success/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000131/right.json", + "scene_id": "success/scene_000131", + "seed": 101310000, + "shared_state": "success/scene_000131/shared_state.npz", + "video": "success/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000132/left.json", + "scene_id": "success/scene_000132", + "seed": 101320000, + "shared_state": "success/scene_000132/shared_state.npz", + "video": "success/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000132/front.json", + "scene_id": "success/scene_000132", + "seed": 101320000, + "shared_state": "success/scene_000132/shared_state.npz", + "video": "success/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000132/right.json", + "scene_id": "success/scene_000132", + "seed": 101320000, + "shared_state": "success/scene_000132/shared_state.npz", + "video": "success/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000133/left.json", + "scene_id": "success/scene_000133", + "seed": 101330000, + "shared_state": "success/scene_000133/shared_state.npz", + "video": "success/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000133/front.json", + "scene_id": "success/scene_000133", + "seed": 101330000, + "shared_state": "success/scene_000133/shared_state.npz", + "video": "success/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000133/right.json", + "scene_id": "success/scene_000133", + "seed": 101330000, + "shared_state": "success/scene_000133/shared_state.npz", + "video": "success/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000134/left.json", + "scene_id": "success/scene_000134", + "seed": 101340000, + "shared_state": "success/scene_000134/shared_state.npz", + "video": "success/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000134/front.json", + "scene_id": "success/scene_000134", + "seed": 101340000, + "shared_state": "success/scene_000134/shared_state.npz", + "video": "success/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000134/right.json", + "scene_id": "success/scene_000134", + "seed": 101340000, + "shared_state": "success/scene_000134/shared_state.npz", + "video": "success/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000135/left.json", + "scene_id": "success/scene_000135", + "seed": 101350000, + "shared_state": "success/scene_000135/shared_state.npz", + "video": "success/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000135/front.json", + "scene_id": "success/scene_000135", + "seed": 101350000, + "shared_state": "success/scene_000135/shared_state.npz", + "video": "success/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000135/right.json", + "scene_id": "success/scene_000135", + "seed": 101350000, + "shared_state": "success/scene_000135/shared_state.npz", + "video": "success/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000136/left.json", + "scene_id": "success/scene_000136", + "seed": 101360000, + "shared_state": "success/scene_000136/shared_state.npz", + "video": "success/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000136/front.json", + "scene_id": "success/scene_000136", + "seed": 101360000, + "shared_state": "success/scene_000136/shared_state.npz", + "video": "success/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000136/right.json", + "scene_id": "success/scene_000136", + "seed": 101360000, + "shared_state": "success/scene_000136/shared_state.npz", + "video": "success/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000137/left.json", + "scene_id": "success/scene_000137", + "seed": 101370000, + "shared_state": "success/scene_000137/shared_state.npz", + "video": "success/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000137/front.json", + "scene_id": "success/scene_000137", + "seed": 101370000, + "shared_state": "success/scene_000137/shared_state.npz", + "video": "success/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000137/right.json", + "scene_id": "success/scene_000137", + "seed": 101370000, + "shared_state": "success/scene_000137/shared_state.npz", + "video": "success/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000138/left.json", + "scene_id": "success/scene_000138", + "seed": 101380000, + "shared_state": "success/scene_000138/shared_state.npz", + "video": "success/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000138/front.json", + "scene_id": "success/scene_000138", + "seed": 101380000, + "shared_state": "success/scene_000138/shared_state.npz", + "video": "success/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000138/right.json", + "scene_id": "success/scene_000138", + "seed": 101380000, + "shared_state": "success/scene_000138/shared_state.npz", + "video": "success/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000139/left.json", + "scene_id": "success/scene_000139", + "seed": 101390000, + "shared_state": "success/scene_000139/shared_state.npz", + "video": "success/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000139/front.json", + "scene_id": "success/scene_000139", + "seed": 101390000, + "shared_state": "success/scene_000139/shared_state.npz", + "video": "success/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000139/right.json", + "scene_id": "success/scene_000139", + "seed": 101390000, + "shared_state": "success/scene_000139/shared_state.npz", + "video": "success/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000140/left.json", + "scene_id": "success/scene_000140", + "seed": 101400000, + "shared_state": "success/scene_000140/shared_state.npz", + "video": "success/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000140/front.json", + "scene_id": "success/scene_000140", + "seed": 101400000, + "shared_state": "success/scene_000140/shared_state.npz", + "video": "success/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000140/right.json", + "scene_id": "success/scene_000140", + "seed": 101400000, + "shared_state": "success/scene_000140/shared_state.npz", + "video": "success/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000141/left.json", + "scene_id": "success/scene_000141", + "seed": 101410000, + "shared_state": "success/scene_000141/shared_state.npz", + "video": "success/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000141/front.json", + "scene_id": "success/scene_000141", + "seed": 101410000, + "shared_state": "success/scene_000141/shared_state.npz", + "video": "success/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000141/right.json", + "scene_id": "success/scene_000141", + "seed": 101410000, + "shared_state": "success/scene_000141/shared_state.npz", + "video": "success/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000142/left.json", + "scene_id": "success/scene_000142", + "seed": 101420000, + "shared_state": "success/scene_000142/shared_state.npz", + "video": "success/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000142/front.json", + "scene_id": "success/scene_000142", + "seed": 101420000, + "shared_state": "success/scene_000142/shared_state.npz", + "video": "success/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000142/right.json", + "scene_id": "success/scene_000142", + "seed": 101420000, + "shared_state": "success/scene_000142/shared_state.npz", + "video": "success/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000143/left.json", + "scene_id": "success/scene_000143", + "seed": 101430000, + "shared_state": "success/scene_000143/shared_state.npz", + "video": "success/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000143/front.json", + "scene_id": "success/scene_000143", + "seed": 101430000, + "shared_state": "success/scene_000143/shared_state.npz", + "video": "success/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000143/right.json", + "scene_id": "success/scene_000143", + "seed": 101430000, + "shared_state": "success/scene_000143/shared_state.npz", + "video": "success/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000144/left.json", + "scene_id": "success/scene_000144", + "seed": 101440000, + "shared_state": "success/scene_000144/shared_state.npz", + "video": "success/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000144/front.json", + "scene_id": "success/scene_000144", + "seed": 101440000, + "shared_state": "success/scene_000144/shared_state.npz", + "video": "success/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000144/right.json", + "scene_id": "success/scene_000144", + "seed": 101440000, + "shared_state": "success/scene_000144/shared_state.npz", + "video": "success/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000145/left.json", + "scene_id": "success/scene_000145", + "seed": 101450000, + "shared_state": "success/scene_000145/shared_state.npz", + "video": "success/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000145/front.json", + "scene_id": "success/scene_000145", + "seed": 101450000, + "shared_state": "success/scene_000145/shared_state.npz", + "video": "success/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000145/right.json", + "scene_id": "success/scene_000145", + "seed": 101450000, + "shared_state": "success/scene_000145/shared_state.npz", + "video": "success/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000146/left.json", + "scene_id": "success/scene_000146", + "seed": 101460000, + "shared_state": "success/scene_000146/shared_state.npz", + "video": "success/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000146/front.json", + "scene_id": "success/scene_000146", + "seed": 101460000, + "shared_state": "success/scene_000146/shared_state.npz", + "video": "success/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000146/right.json", + "scene_id": "success/scene_000146", + "seed": 101460000, + "shared_state": "success/scene_000146/shared_state.npz", + "video": "success/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000147/left.json", + "scene_id": "success/scene_000147", + "seed": 101470000, + "shared_state": "success/scene_000147/shared_state.npz", + "video": "success/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000147/front.json", + "scene_id": "success/scene_000147", + "seed": 101470000, + "shared_state": "success/scene_000147/shared_state.npz", + "video": "success/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000147/right.json", + "scene_id": "success/scene_000147", + "seed": 101470000, + "shared_state": "success/scene_000147/shared_state.npz", + "video": "success/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000148/left.json", + "scene_id": "success/scene_000148", + "seed": 101480000, + "shared_state": "success/scene_000148/shared_state.npz", + "video": "success/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000148/front.json", + "scene_id": "success/scene_000148", + "seed": 101480000, + "shared_state": "success/scene_000148/shared_state.npz", + "video": "success/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000148/right.json", + "scene_id": "success/scene_000148", + "seed": 101480000, + "shared_state": "success/scene_000148/shared_state.npz", + "video": "success/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000149/left.json", + "scene_id": "success/scene_000149", + "seed": 101490000, + "shared_state": "success/scene_000149/shared_state.npz", + "video": "success/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000149/front.json", + "scene_id": "success/scene_000149", + "seed": 101490000, + "shared_state": "success/scene_000149/shared_state.npz", + "video": "success/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000149/right.json", + "scene_id": "success/scene_000149", + "seed": 101490000, + "shared_state": "success/scene_000149/shared_state.npz", + "video": "success/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000150/left.json", + "scene_id": "success/scene_000150", + "seed": 101500000, + "shared_state": "success/scene_000150/shared_state.npz", + "video": "success/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000150/front.json", + "scene_id": "success/scene_000150", + "seed": 101500000, + "shared_state": "success/scene_000150/shared_state.npz", + "video": "success/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000150/right.json", + "scene_id": "success/scene_000150", + "seed": 101500000, + "shared_state": "success/scene_000150/shared_state.npz", + "video": "success/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000151/left.json", + "scene_id": "success/scene_000151", + "seed": 101510000, + "shared_state": "success/scene_000151/shared_state.npz", + "video": "success/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000151/front.json", + "scene_id": "success/scene_000151", + "seed": 101510000, + "shared_state": "success/scene_000151/shared_state.npz", + "video": "success/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000151/right.json", + "scene_id": "success/scene_000151", + "seed": 101510000, + "shared_state": "success/scene_000151/shared_state.npz", + "video": "success/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000152/left.json", + "scene_id": "success/scene_000152", + "seed": 101520000, + "shared_state": "success/scene_000152/shared_state.npz", + "video": "success/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000152/front.json", + "scene_id": "success/scene_000152", + "seed": 101520000, + "shared_state": "success/scene_000152/shared_state.npz", + "video": "success/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000152/right.json", + "scene_id": "success/scene_000152", + "seed": 101520000, + "shared_state": "success/scene_000152/shared_state.npz", + "video": "success/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000153/left.json", + "scene_id": "success/scene_000153", + "seed": 101530000, + "shared_state": "success/scene_000153/shared_state.npz", + "video": "success/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000153/front.json", + "scene_id": "success/scene_000153", + "seed": 101530000, + "shared_state": "success/scene_000153/shared_state.npz", + "video": "success/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000153/right.json", + "scene_id": "success/scene_000153", + "seed": 101530000, + "shared_state": "success/scene_000153/shared_state.npz", + "video": "success/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000154/left.json", + "scene_id": "success/scene_000154", + "seed": 101540000, + "shared_state": "success/scene_000154/shared_state.npz", + "video": "success/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000154/front.json", + "scene_id": "success/scene_000154", + "seed": 101540000, + "shared_state": "success/scene_000154/shared_state.npz", + "video": "success/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000154/right.json", + "scene_id": "success/scene_000154", + "seed": 101540000, + "shared_state": "success/scene_000154/shared_state.npz", + "video": "success/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000155/left.json", + "scene_id": "success/scene_000155", + "seed": 101550000, + "shared_state": "success/scene_000155/shared_state.npz", + "video": "success/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000155/front.json", + "scene_id": "success/scene_000155", + "seed": 101550000, + "shared_state": "success/scene_000155/shared_state.npz", + "video": "success/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000155/right.json", + "scene_id": "success/scene_000155", + "seed": 101550000, + "shared_state": "success/scene_000155/shared_state.npz", + "video": "success/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000156/left.json", + "scene_id": "success/scene_000156", + "seed": 101560000, + "shared_state": "success/scene_000156/shared_state.npz", + "video": "success/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000156/front.json", + "scene_id": "success/scene_000156", + "seed": 101560000, + "shared_state": "success/scene_000156/shared_state.npz", + "video": "success/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000156/right.json", + "scene_id": "success/scene_000156", + "seed": 101560000, + "shared_state": "success/scene_000156/shared_state.npz", + "video": "success/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000157/left.json", + "scene_id": "success/scene_000157", + "seed": 101570000, + "shared_state": "success/scene_000157/shared_state.npz", + "video": "success/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000157/front.json", + "scene_id": "success/scene_000157", + "seed": 101570000, + "shared_state": "success/scene_000157/shared_state.npz", + "video": "success/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000157/right.json", + "scene_id": "success/scene_000157", + "seed": 101570000, + "shared_state": "success/scene_000157/shared_state.npz", + "video": "success/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000158/left.json", + "scene_id": "success/scene_000158", + "seed": 101580000, + "shared_state": "success/scene_000158/shared_state.npz", + "video": "success/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000158/front.json", + "scene_id": "success/scene_000158", + "seed": 101580000, + "shared_state": "success/scene_000158/shared_state.npz", + "video": "success/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000158/right.json", + "scene_id": "success/scene_000158", + "seed": 101580000, + "shared_state": "success/scene_000158/shared_state.npz", + "video": "success/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000159/left.json", + "scene_id": "success/scene_000159", + "seed": 101590000, + "shared_state": "success/scene_000159/shared_state.npz", + "video": "success/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000159/front.json", + "scene_id": "success/scene_000159", + "seed": 101590000, + "shared_state": "success/scene_000159/shared_state.npz", + "video": "success/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000159/right.json", + "scene_id": "success/scene_000159", + "seed": 101590000, + "shared_state": "success/scene_000159/shared_state.npz", + "video": "success/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000160/left.json", + "scene_id": "success/scene_000160", + "seed": 101600000, + "shared_state": "success/scene_000160/shared_state.npz", + "video": "success/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000160/front.json", + "scene_id": "success/scene_000160", + "seed": 101600000, + "shared_state": "success/scene_000160/shared_state.npz", + "video": "success/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000160/right.json", + "scene_id": "success/scene_000160", + "seed": 101600000, + "shared_state": "success/scene_000160/shared_state.npz", + "video": "success/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000161/left.json", + "scene_id": "success/scene_000161", + "seed": 101610000, + "shared_state": "success/scene_000161/shared_state.npz", + "video": "success/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000161/front.json", + "scene_id": "success/scene_000161", + "seed": 101610000, + "shared_state": "success/scene_000161/shared_state.npz", + "video": "success/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000161/right.json", + "scene_id": "success/scene_000161", + "seed": 101610000, + "shared_state": "success/scene_000161/shared_state.npz", + "video": "success/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000162/left.json", + "scene_id": "success/scene_000162", + "seed": 101620000, + "shared_state": "success/scene_000162/shared_state.npz", + "video": "success/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000162/front.json", + "scene_id": "success/scene_000162", + "seed": 101620000, + "shared_state": "success/scene_000162/shared_state.npz", + "video": "success/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000162/right.json", + "scene_id": "success/scene_000162", + "seed": 101620000, + "shared_state": "success/scene_000162/shared_state.npz", + "video": "success/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000163/left.json", + "scene_id": "success/scene_000163", + "seed": 101630000, + "shared_state": "success/scene_000163/shared_state.npz", + "video": "success/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000163/front.json", + "scene_id": "success/scene_000163", + "seed": 101630000, + "shared_state": "success/scene_000163/shared_state.npz", + "video": "success/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000163/right.json", + "scene_id": "success/scene_000163", + "seed": 101630000, + "shared_state": "success/scene_000163/shared_state.npz", + "video": "success/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000164/left.json", + "scene_id": "success/scene_000164", + "seed": 101640000, + "shared_state": "success/scene_000164/shared_state.npz", + "video": "success/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000164/front.json", + "scene_id": "success/scene_000164", + "seed": 101640000, + "shared_state": "success/scene_000164/shared_state.npz", + "video": "success/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000164/right.json", + "scene_id": "success/scene_000164", + "seed": 101640000, + "shared_state": "success/scene_000164/shared_state.npz", + "video": "success/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000165/left.json", + "scene_id": "success/scene_000165", + "seed": 101650000, + "shared_state": "success/scene_000165/shared_state.npz", + "video": "success/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000165/front.json", + "scene_id": "success/scene_000165", + "seed": 101650000, + "shared_state": "success/scene_000165/shared_state.npz", + "video": "success/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000165/right.json", + "scene_id": "success/scene_000165", + "seed": 101650000, + "shared_state": "success/scene_000165/shared_state.npz", + "video": "success/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000166/left.json", + "scene_id": "success/scene_000166", + "seed": 101660000, + "shared_state": "success/scene_000166/shared_state.npz", + "video": "success/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000166/front.json", + "scene_id": "success/scene_000166", + "seed": 101660000, + "shared_state": "success/scene_000166/shared_state.npz", + "video": "success/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000166/right.json", + "scene_id": "success/scene_000166", + "seed": 101660000, + "shared_state": "success/scene_000166/shared_state.npz", + "video": "success/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000167/left.json", + "scene_id": "success/scene_000167", + "seed": 101670000, + "shared_state": "success/scene_000167/shared_state.npz", + "video": "success/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000167/front.json", + "scene_id": "success/scene_000167", + "seed": 101670000, + "shared_state": "success/scene_000167/shared_state.npz", + "video": "success/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000167/right.json", + "scene_id": "success/scene_000167", + "seed": 101670000, + "shared_state": "success/scene_000167/shared_state.npz", + "video": "success/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000168/left.json", + "scene_id": "success/scene_000168", + "seed": 101680000, + "shared_state": "success/scene_000168/shared_state.npz", + "video": "success/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000168/front.json", + "scene_id": "success/scene_000168", + "seed": 101680000, + "shared_state": "success/scene_000168/shared_state.npz", + "video": "success/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000168/right.json", + "scene_id": "success/scene_000168", + "seed": 101680000, + "shared_state": "success/scene_000168/shared_state.npz", + "video": "success/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000169/left.json", + "scene_id": "success/scene_000169", + "seed": 101690000, + "shared_state": "success/scene_000169/shared_state.npz", + "video": "success/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000169/front.json", + "scene_id": "success/scene_000169", + "seed": 101690000, + "shared_state": "success/scene_000169/shared_state.npz", + "video": "success/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000169/right.json", + "scene_id": "success/scene_000169", + "seed": 101690000, + "shared_state": "success/scene_000169/shared_state.npz", + "video": "success/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000170/left.json", + "scene_id": "success/scene_000170", + "seed": 101700000, + "shared_state": "success/scene_000170/shared_state.npz", + "video": "success/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000170/front.json", + "scene_id": "success/scene_000170", + "seed": 101700000, + "shared_state": "success/scene_000170/shared_state.npz", + "video": "success/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000170/right.json", + "scene_id": "success/scene_000170", + "seed": 101700000, + "shared_state": "success/scene_000170/shared_state.npz", + "video": "success/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000171/left.json", + "scene_id": "success/scene_000171", + "seed": 101710000, + "shared_state": "success/scene_000171/shared_state.npz", + "video": "success/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000171/front.json", + "scene_id": "success/scene_000171", + "seed": 101710000, + "shared_state": "success/scene_000171/shared_state.npz", + "video": "success/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000171/right.json", + "scene_id": "success/scene_000171", + "seed": 101710000, + "shared_state": "success/scene_000171/shared_state.npz", + "video": "success/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000172/left.json", + "scene_id": "success/scene_000172", + "seed": 101720000, + "shared_state": "success/scene_000172/shared_state.npz", + "video": "success/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000172/front.json", + "scene_id": "success/scene_000172", + "seed": 101720000, + "shared_state": "success/scene_000172/shared_state.npz", + "video": "success/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000172/right.json", + "scene_id": "success/scene_000172", + "seed": 101720000, + "shared_state": "success/scene_000172/shared_state.npz", + "video": "success/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000173/left.json", + "scene_id": "success/scene_000173", + "seed": 101730000, + "shared_state": "success/scene_000173/shared_state.npz", + "video": "success/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000173/front.json", + "scene_id": "success/scene_000173", + "seed": 101730000, + "shared_state": "success/scene_000173/shared_state.npz", + "video": "success/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000173/right.json", + "scene_id": "success/scene_000173", + "seed": 101730000, + "shared_state": "success/scene_000173/shared_state.npz", + "video": "success/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000174/left.json", + "scene_id": "success/scene_000174", + "seed": 101740000, + "shared_state": "success/scene_000174/shared_state.npz", + "video": "success/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000174/front.json", + "scene_id": "success/scene_000174", + "seed": 101740000, + "shared_state": "success/scene_000174/shared_state.npz", + "video": "success/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000174/right.json", + "scene_id": "success/scene_000174", + "seed": 101740000, + "shared_state": "success/scene_000174/shared_state.npz", + "video": "success/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000175/left.json", + "scene_id": "success/scene_000175", + "seed": 101750000, + "shared_state": "success/scene_000175/shared_state.npz", + "video": "success/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000175/front.json", + "scene_id": "success/scene_000175", + "seed": 101750000, + "shared_state": "success/scene_000175/shared_state.npz", + "video": "success/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000175/right.json", + "scene_id": "success/scene_000175", + "seed": 101750000, + "shared_state": "success/scene_000175/shared_state.npz", + "video": "success/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000176/left.json", + "scene_id": "success/scene_000176", + "seed": 101760000, + "shared_state": "success/scene_000176/shared_state.npz", + "video": "success/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000176/front.json", + "scene_id": "success/scene_000176", + "seed": 101760000, + "shared_state": "success/scene_000176/shared_state.npz", + "video": "success/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000176/right.json", + "scene_id": "success/scene_000176", + "seed": 101760000, + "shared_state": "success/scene_000176/shared_state.npz", + "video": "success/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000177/left.json", + "scene_id": "success/scene_000177", + "seed": 101770000, + "shared_state": "success/scene_000177/shared_state.npz", + "video": "success/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000177/front.json", + "scene_id": "success/scene_000177", + "seed": 101770000, + "shared_state": "success/scene_000177/shared_state.npz", + "video": "success/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000177/right.json", + "scene_id": "success/scene_000177", + "seed": 101770000, + "shared_state": "success/scene_000177/shared_state.npz", + "video": "success/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000178/left.json", + "scene_id": "success/scene_000178", + "seed": 101780000, + "shared_state": "success/scene_000178/shared_state.npz", + "video": "success/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000178/front.json", + "scene_id": "success/scene_000178", + "seed": 101780000, + "shared_state": "success/scene_000178/shared_state.npz", + "video": "success/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000178/right.json", + "scene_id": "success/scene_000178", + "seed": 101780000, + "shared_state": "success/scene_000178/shared_state.npz", + "video": "success/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000179/left.json", + "scene_id": "success/scene_000179", + "seed": 101790000, + "shared_state": "success/scene_000179/shared_state.npz", + "video": "success/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000179/front.json", + "scene_id": "success/scene_000179", + "seed": 101790000, + "shared_state": "success/scene_000179/shared_state.npz", + "video": "success/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000179/right.json", + "scene_id": "success/scene_000179", + "seed": 101790000, + "shared_state": "success/scene_000179/shared_state.npz", + "video": "success/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000180/left.json", + "scene_id": "success/scene_000180", + "seed": 101800000, + "shared_state": "success/scene_000180/shared_state.npz", + "video": "success/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000180/front.json", + "scene_id": "success/scene_000180", + "seed": 101800000, + "shared_state": "success/scene_000180/shared_state.npz", + "video": "success/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000180/right.json", + "scene_id": "success/scene_000180", + "seed": 101800000, + "shared_state": "success/scene_000180/shared_state.npz", + "video": "success/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000181/left.json", + "scene_id": "success/scene_000181", + "seed": 101810000, + "shared_state": "success/scene_000181/shared_state.npz", + "video": "success/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000181/front.json", + "scene_id": "success/scene_000181", + "seed": 101810000, + "shared_state": "success/scene_000181/shared_state.npz", + "video": "success/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000181/right.json", + "scene_id": "success/scene_000181", + "seed": 101810000, + "shared_state": "success/scene_000181/shared_state.npz", + "video": "success/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000182/left.json", + "scene_id": "success/scene_000182", + "seed": 101820000, + "shared_state": "success/scene_000182/shared_state.npz", + "video": "success/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000182/front.json", + "scene_id": "success/scene_000182", + "seed": 101820000, + "shared_state": "success/scene_000182/shared_state.npz", + "video": "success/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000182/right.json", + "scene_id": "success/scene_000182", + "seed": 101820000, + "shared_state": "success/scene_000182/shared_state.npz", + "video": "success/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000183/left.json", + "scene_id": "success/scene_000183", + "seed": 101830000, + "shared_state": "success/scene_000183/shared_state.npz", + "video": "success/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000183/front.json", + "scene_id": "success/scene_000183", + "seed": 101830000, + "shared_state": "success/scene_000183/shared_state.npz", + "video": "success/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000183/right.json", + "scene_id": "success/scene_000183", + "seed": 101830000, + "shared_state": "success/scene_000183/shared_state.npz", + "video": "success/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000184/left.json", + "scene_id": "success/scene_000184", + "seed": 101840000, + "shared_state": "success/scene_000184/shared_state.npz", + "video": "success/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000184/front.json", + "scene_id": "success/scene_000184", + "seed": 101840000, + "shared_state": "success/scene_000184/shared_state.npz", + "video": "success/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000184/right.json", + "scene_id": "success/scene_000184", + "seed": 101840000, + "shared_state": "success/scene_000184/shared_state.npz", + "video": "success/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000185/left.json", + "scene_id": "success/scene_000185", + "seed": 101850000, + "shared_state": "success/scene_000185/shared_state.npz", + "video": "success/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000185/front.json", + "scene_id": "success/scene_000185", + "seed": 101850000, + "shared_state": "success/scene_000185/shared_state.npz", + "video": "success/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000185/right.json", + "scene_id": "success/scene_000185", + "seed": 101850000, + "shared_state": "success/scene_000185/shared_state.npz", + "video": "success/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000186/left.json", + "scene_id": "success/scene_000186", + "seed": 101860000, + "shared_state": "success/scene_000186/shared_state.npz", + "video": "success/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000186/front.json", + "scene_id": "success/scene_000186", + "seed": 101860000, + "shared_state": "success/scene_000186/shared_state.npz", + "video": "success/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000186/right.json", + "scene_id": "success/scene_000186", + "seed": 101860000, + "shared_state": "success/scene_000186/shared_state.npz", + "video": "success/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000187/left.json", + "scene_id": "success/scene_000187", + "seed": 101870000, + "shared_state": "success/scene_000187/shared_state.npz", + "video": "success/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000187/front.json", + "scene_id": "success/scene_000187", + "seed": 101870000, + "shared_state": "success/scene_000187/shared_state.npz", + "video": "success/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000187/right.json", + "scene_id": "success/scene_000187", + "seed": 101870000, + "shared_state": "success/scene_000187/shared_state.npz", + "video": "success/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000188/left.json", + "scene_id": "success/scene_000188", + "seed": 101880000, + "shared_state": "success/scene_000188/shared_state.npz", + "video": "success/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000188/front.json", + "scene_id": "success/scene_000188", + "seed": 101880000, + "shared_state": "success/scene_000188/shared_state.npz", + "video": "success/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000188/right.json", + "scene_id": "success/scene_000188", + "seed": 101880000, + "shared_state": "success/scene_000188/shared_state.npz", + "video": "success/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000189/left.json", + "scene_id": "success/scene_000189", + "seed": 101890000, + "shared_state": "success/scene_000189/shared_state.npz", + "video": "success/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000189/front.json", + "scene_id": "success/scene_000189", + "seed": 101890000, + "shared_state": "success/scene_000189/shared_state.npz", + "video": "success/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000189/right.json", + "scene_id": "success/scene_000189", + "seed": 101890000, + "shared_state": "success/scene_000189/shared_state.npz", + "video": "success/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000190/left.json", + "scene_id": "success/scene_000190", + "seed": 101900000, + "shared_state": "success/scene_000190/shared_state.npz", + "video": "success/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000190/front.json", + "scene_id": "success/scene_000190", + "seed": 101900000, + "shared_state": "success/scene_000190/shared_state.npz", + "video": "success/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000190/right.json", + "scene_id": "success/scene_000190", + "seed": 101900000, + "shared_state": "success/scene_000190/shared_state.npz", + "video": "success/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000191/left.json", + "scene_id": "success/scene_000191", + "seed": 101910000, + "shared_state": "success/scene_000191/shared_state.npz", + "video": "success/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000191/front.json", + "scene_id": "success/scene_000191", + "seed": 101910000, + "shared_state": "success/scene_000191/shared_state.npz", + "video": "success/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000191/right.json", + "scene_id": "success/scene_000191", + "seed": 101910000, + "shared_state": "success/scene_000191/shared_state.npz", + "video": "success/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000192/left.json", + "scene_id": "success/scene_000192", + "seed": 101920000, + "shared_state": "success/scene_000192/shared_state.npz", + "video": "success/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000192/front.json", + "scene_id": "success/scene_000192", + "seed": 101920000, + "shared_state": "success/scene_000192/shared_state.npz", + "video": "success/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000192/right.json", + "scene_id": "success/scene_000192", + "seed": 101920000, + "shared_state": "success/scene_000192/shared_state.npz", + "video": "success/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000193/left.json", + "scene_id": "success/scene_000193", + "seed": 101930000, + "shared_state": "success/scene_000193/shared_state.npz", + "video": "success/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000193/front.json", + "scene_id": "success/scene_000193", + "seed": 101930000, + "shared_state": "success/scene_000193/shared_state.npz", + "video": "success/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000193/right.json", + "scene_id": "success/scene_000193", + "seed": 101930000, + "shared_state": "success/scene_000193/shared_state.npz", + "video": "success/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000194/left.json", + "scene_id": "success/scene_000194", + "seed": 101940000, + "shared_state": "success/scene_000194/shared_state.npz", + "video": "success/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000194/front.json", + "scene_id": "success/scene_000194", + "seed": 101940000, + "shared_state": "success/scene_000194/shared_state.npz", + "video": "success/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000194/right.json", + "scene_id": "success/scene_000194", + "seed": 101940000, + "shared_state": "success/scene_000194/shared_state.npz", + "video": "success/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000195/left.json", + "scene_id": "success/scene_000195", + "seed": 101950000, + "shared_state": "success/scene_000195/shared_state.npz", + "video": "success/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000195/front.json", + "scene_id": "success/scene_000195", + "seed": 101950000, + "shared_state": "success/scene_000195/shared_state.npz", + "video": "success/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000195/right.json", + "scene_id": "success/scene_000195", + "seed": 101950000, + "shared_state": "success/scene_000195/shared_state.npz", + "video": "success/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000196/left.json", + "scene_id": "success/scene_000196", + "seed": 101960000, + "shared_state": "success/scene_000196/shared_state.npz", + "video": "success/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000196/front.json", + "scene_id": "success/scene_000196", + "seed": 101960000, + "shared_state": "success/scene_000196/shared_state.npz", + "video": "success/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000196/right.json", + "scene_id": "success/scene_000196", + "seed": 101960000, + "shared_state": "success/scene_000196/shared_state.npz", + "video": "success/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000197/left.json", + "scene_id": "success/scene_000197", + "seed": 101970000, + "shared_state": "success/scene_000197/shared_state.npz", + "video": "success/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000197/front.json", + "scene_id": "success/scene_000197", + "seed": 101970000, + "shared_state": "success/scene_000197/shared_state.npz", + "video": "success/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000197/right.json", + "scene_id": "success/scene_000197", + "seed": 101970000, + "shared_state": "success/scene_000197/shared_state.npz", + "video": "success/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000198/left.json", + "scene_id": "success/scene_000198", + "seed": 101980000, + "shared_state": "success/scene_000198/shared_state.npz", + "video": "success/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000198/front.json", + "scene_id": "success/scene_000198", + "seed": 101980000, + "shared_state": "success/scene_000198/shared_state.npz", + "video": "success/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000198/right.json", + "scene_id": "success/scene_000198", + "seed": 101980000, + "shared_state": "success/scene_000198/shared_state.npz", + "video": "success/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000199/left.json", + "scene_id": "success/scene_000199", + "seed": 101990000, + "shared_state": "success/scene_000199/shared_state.npz", + "video": "success/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000199/front.json", + "scene_id": "success/scene_000199", + "seed": 101990000, + "shared_state": "success/scene_000199/shared_state.npz", + "video": "success/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000199/right.json", + "scene_id": "success/scene_000199", + "seed": 101990000, + "shared_state": "success/scene_000199/shared_state.npz", + "video": "success/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000200/left.json", + "scene_id": "success/scene_000200", + "seed": 102000001, + "shared_state": "success/scene_000200/shared_state.npz", + "video": "success/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000200/front.json", + "scene_id": "success/scene_000200", + "seed": 102000001, + "shared_state": "success/scene_000200/shared_state.npz", + "video": "success/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000200/right.json", + "scene_id": "success/scene_000200", + "seed": 102000001, + "shared_state": "success/scene_000200/shared_state.npz", + "video": "success/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000201/left.json", + "scene_id": "success/scene_000201", + "seed": 102010000, + "shared_state": "success/scene_000201/shared_state.npz", + "video": "success/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000201/front.json", + "scene_id": "success/scene_000201", + "seed": 102010000, + "shared_state": "success/scene_000201/shared_state.npz", + "video": "success/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000201/right.json", + "scene_id": "success/scene_000201", + "seed": 102010000, + "shared_state": "success/scene_000201/shared_state.npz", + "video": "success/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000202/left.json", + "scene_id": "success/scene_000202", + "seed": 102020000, + "shared_state": "success/scene_000202/shared_state.npz", + "video": "success/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000202/front.json", + "scene_id": "success/scene_000202", + "seed": 102020000, + "shared_state": "success/scene_000202/shared_state.npz", + "video": "success/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000202/right.json", + "scene_id": "success/scene_000202", + "seed": 102020000, + "shared_state": "success/scene_000202/shared_state.npz", + "video": "success/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000203/left.json", + "scene_id": "success/scene_000203", + "seed": 102030000, + "shared_state": "success/scene_000203/shared_state.npz", + "video": "success/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000203/front.json", + "scene_id": "success/scene_000203", + "seed": 102030000, + "shared_state": "success/scene_000203/shared_state.npz", + "video": "success/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000203/right.json", + "scene_id": "success/scene_000203", + "seed": 102030000, + "shared_state": "success/scene_000203/shared_state.npz", + "video": "success/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000204/left.json", + "scene_id": "success/scene_000204", + "seed": 102040000, + "shared_state": "success/scene_000204/shared_state.npz", + "video": "success/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000204/front.json", + "scene_id": "success/scene_000204", + "seed": 102040000, + "shared_state": "success/scene_000204/shared_state.npz", + "video": "success/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000204/right.json", + "scene_id": "success/scene_000204", + "seed": 102040000, + "shared_state": "success/scene_000204/shared_state.npz", + "video": "success/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000205/left.json", + "scene_id": "success/scene_000205", + "seed": 102050000, + "shared_state": "success/scene_000205/shared_state.npz", + "video": "success/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000205/front.json", + "scene_id": "success/scene_000205", + "seed": 102050000, + "shared_state": "success/scene_000205/shared_state.npz", + "video": "success/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000205/right.json", + "scene_id": "success/scene_000205", + "seed": 102050000, + "shared_state": "success/scene_000205/shared_state.npz", + "video": "success/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000206/left.json", + "scene_id": "success/scene_000206", + "seed": 102060000, + "shared_state": "success/scene_000206/shared_state.npz", + "video": "success/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000206/front.json", + "scene_id": "success/scene_000206", + "seed": 102060000, + "shared_state": "success/scene_000206/shared_state.npz", + "video": "success/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000206/right.json", + "scene_id": "success/scene_000206", + "seed": 102060000, + "shared_state": "success/scene_000206/shared_state.npz", + "video": "success/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000207/left.json", + "scene_id": "success/scene_000207", + "seed": 102070000, + "shared_state": "success/scene_000207/shared_state.npz", + "video": "success/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000207/front.json", + "scene_id": "success/scene_000207", + "seed": 102070000, + "shared_state": "success/scene_000207/shared_state.npz", + "video": "success/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000207/right.json", + "scene_id": "success/scene_000207", + "seed": 102070000, + "shared_state": "success/scene_000207/shared_state.npz", + "video": "success/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000208/left.json", + "scene_id": "success/scene_000208", + "seed": 102080000, + "shared_state": "success/scene_000208/shared_state.npz", + "video": "success/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000208/front.json", + "scene_id": "success/scene_000208", + "seed": 102080000, + "shared_state": "success/scene_000208/shared_state.npz", + "video": "success/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000208/right.json", + "scene_id": "success/scene_000208", + "seed": 102080000, + "shared_state": "success/scene_000208/shared_state.npz", + "video": "success/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000209/left.json", + "scene_id": "success/scene_000209", + "seed": 102090000, + "shared_state": "success/scene_000209/shared_state.npz", + "video": "success/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000209/front.json", + "scene_id": "success/scene_000209", + "seed": 102090000, + "shared_state": "success/scene_000209/shared_state.npz", + "video": "success/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000209/right.json", + "scene_id": "success/scene_000209", + "seed": 102090000, + "shared_state": "success/scene_000209/shared_state.npz", + "video": "success/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000210/left.json", + "scene_id": "success/scene_000210", + "seed": 102100000, + "shared_state": "success/scene_000210/shared_state.npz", + "video": "success/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000210/front.json", + "scene_id": "success/scene_000210", + "seed": 102100000, + "shared_state": "success/scene_000210/shared_state.npz", + "video": "success/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000210/right.json", + "scene_id": "success/scene_000210", + "seed": 102100000, + "shared_state": "success/scene_000210/shared_state.npz", + "video": "success/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000211/left.json", + "scene_id": "success/scene_000211", + "seed": 102110000, + "shared_state": "success/scene_000211/shared_state.npz", + "video": "success/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000211/front.json", + "scene_id": "success/scene_000211", + "seed": 102110000, + "shared_state": "success/scene_000211/shared_state.npz", + "video": "success/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000211/right.json", + "scene_id": "success/scene_000211", + "seed": 102110000, + "shared_state": "success/scene_000211/shared_state.npz", + "video": "success/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000212/left.json", + "scene_id": "success/scene_000212", + "seed": 102120000, + "shared_state": "success/scene_000212/shared_state.npz", + "video": "success/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000212/front.json", + "scene_id": "success/scene_000212", + "seed": 102120000, + "shared_state": "success/scene_000212/shared_state.npz", + "video": "success/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000212/right.json", + "scene_id": "success/scene_000212", + "seed": 102120000, + "shared_state": "success/scene_000212/shared_state.npz", + "video": "success/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000213/left.json", + "scene_id": "success/scene_000213", + "seed": 102130000, + "shared_state": "success/scene_000213/shared_state.npz", + "video": "success/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000213/front.json", + "scene_id": "success/scene_000213", + "seed": 102130000, + "shared_state": "success/scene_000213/shared_state.npz", + "video": "success/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000213/right.json", + "scene_id": "success/scene_000213", + "seed": 102130000, + "shared_state": "success/scene_000213/shared_state.npz", + "video": "success/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000214/left.json", + "scene_id": "success/scene_000214", + "seed": 102140000, + "shared_state": "success/scene_000214/shared_state.npz", + "video": "success/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000214/front.json", + "scene_id": "success/scene_000214", + "seed": 102140000, + "shared_state": "success/scene_000214/shared_state.npz", + "video": "success/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000214/right.json", + "scene_id": "success/scene_000214", + "seed": 102140000, + "shared_state": "success/scene_000214/shared_state.npz", + "video": "success/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000215/left.json", + "scene_id": "success/scene_000215", + "seed": 102150000, + "shared_state": "success/scene_000215/shared_state.npz", + "video": "success/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000215/front.json", + "scene_id": "success/scene_000215", + "seed": 102150000, + "shared_state": "success/scene_000215/shared_state.npz", + "video": "success/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000215/right.json", + "scene_id": "success/scene_000215", + "seed": 102150000, + "shared_state": "success/scene_000215/shared_state.npz", + "video": "success/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000216/left.json", + "scene_id": "success/scene_000216", + "seed": 102160000, + "shared_state": "success/scene_000216/shared_state.npz", + "video": "success/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000216/front.json", + "scene_id": "success/scene_000216", + "seed": 102160000, + "shared_state": "success/scene_000216/shared_state.npz", + "video": "success/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000216/right.json", + "scene_id": "success/scene_000216", + "seed": 102160000, + "shared_state": "success/scene_000216/shared_state.npz", + "video": "success/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000217/left.json", + "scene_id": "success/scene_000217", + "seed": 102170000, + "shared_state": "success/scene_000217/shared_state.npz", + "video": "success/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000217/front.json", + "scene_id": "success/scene_000217", + "seed": 102170000, + "shared_state": "success/scene_000217/shared_state.npz", + "video": "success/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000217/right.json", + "scene_id": "success/scene_000217", + "seed": 102170000, + "shared_state": "success/scene_000217/shared_state.npz", + "video": "success/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000218/left.json", + "scene_id": "success/scene_000218", + "seed": 102180000, + "shared_state": "success/scene_000218/shared_state.npz", + "video": "success/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000218/front.json", + "scene_id": "success/scene_000218", + "seed": 102180000, + "shared_state": "success/scene_000218/shared_state.npz", + "video": "success/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000218/right.json", + "scene_id": "success/scene_000218", + "seed": 102180000, + "shared_state": "success/scene_000218/shared_state.npz", + "video": "success/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000219/left.json", + "scene_id": "success/scene_000219", + "seed": 102190000, + "shared_state": "success/scene_000219/shared_state.npz", + "video": "success/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000219/front.json", + "scene_id": "success/scene_000219", + "seed": 102190000, + "shared_state": "success/scene_000219/shared_state.npz", + "video": "success/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000219/right.json", + "scene_id": "success/scene_000219", + "seed": 102190000, + "shared_state": "success/scene_000219/shared_state.npz", + "video": "success/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000220/left.json", + "scene_id": "success/scene_000220", + "seed": 102200000, + "shared_state": "success/scene_000220/shared_state.npz", + "video": "success/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000220/front.json", + "scene_id": "success/scene_000220", + "seed": 102200000, + "shared_state": "success/scene_000220/shared_state.npz", + "video": "success/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000220/right.json", + "scene_id": "success/scene_000220", + "seed": 102200000, + "shared_state": "success/scene_000220/shared_state.npz", + "video": "success/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000221/left.json", + "scene_id": "success/scene_000221", + "seed": 102210000, + "shared_state": "success/scene_000221/shared_state.npz", + "video": "success/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000221/front.json", + "scene_id": "success/scene_000221", + "seed": 102210000, + "shared_state": "success/scene_000221/shared_state.npz", + "video": "success/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000221/right.json", + "scene_id": "success/scene_000221", + "seed": 102210000, + "shared_state": "success/scene_000221/shared_state.npz", + "video": "success/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000222/left.json", + "scene_id": "success/scene_000222", + "seed": 102220000, + "shared_state": "success/scene_000222/shared_state.npz", + "video": "success/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000222/front.json", + "scene_id": "success/scene_000222", + "seed": 102220000, + "shared_state": "success/scene_000222/shared_state.npz", + "video": "success/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000222/right.json", + "scene_id": "success/scene_000222", + "seed": 102220000, + "shared_state": "success/scene_000222/shared_state.npz", + "video": "success/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000223/left.json", + "scene_id": "success/scene_000223", + "seed": 102230000, + "shared_state": "success/scene_000223/shared_state.npz", + "video": "success/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000223/front.json", + "scene_id": "success/scene_000223", + "seed": 102230000, + "shared_state": "success/scene_000223/shared_state.npz", + "video": "success/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000223/right.json", + "scene_id": "success/scene_000223", + "seed": 102230000, + "shared_state": "success/scene_000223/shared_state.npz", + "video": "success/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000224/left.json", + "scene_id": "success/scene_000224", + "seed": 102240000, + "shared_state": "success/scene_000224/shared_state.npz", + "video": "success/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000224/front.json", + "scene_id": "success/scene_000224", + "seed": 102240000, + "shared_state": "success/scene_000224/shared_state.npz", + "video": "success/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000224/right.json", + "scene_id": "success/scene_000224", + "seed": 102240000, + "shared_state": "success/scene_000224/shared_state.npz", + "video": "success/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000225/left.json", + "scene_id": "success/scene_000225", + "seed": 102250000, + "shared_state": "success/scene_000225/shared_state.npz", + "video": "success/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000225/front.json", + "scene_id": "success/scene_000225", + "seed": 102250000, + "shared_state": "success/scene_000225/shared_state.npz", + "video": "success/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000225/right.json", + "scene_id": "success/scene_000225", + "seed": 102250000, + "shared_state": "success/scene_000225/shared_state.npz", + "video": "success/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000226/left.json", + "scene_id": "success/scene_000226", + "seed": 102260000, + "shared_state": "success/scene_000226/shared_state.npz", + "video": "success/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000226/front.json", + "scene_id": "success/scene_000226", + "seed": 102260000, + "shared_state": "success/scene_000226/shared_state.npz", + "video": "success/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000226/right.json", + "scene_id": "success/scene_000226", + "seed": 102260000, + "shared_state": "success/scene_000226/shared_state.npz", + "video": "success/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000227/left.json", + "scene_id": "success/scene_000227", + "seed": 102270000, + "shared_state": "success/scene_000227/shared_state.npz", + "video": "success/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000227/front.json", + "scene_id": "success/scene_000227", + "seed": 102270000, + "shared_state": "success/scene_000227/shared_state.npz", + "video": "success/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000227/right.json", + "scene_id": "success/scene_000227", + "seed": 102270000, + "shared_state": "success/scene_000227/shared_state.npz", + "video": "success/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000228/left.json", + "scene_id": "success/scene_000228", + "seed": 102280000, + "shared_state": "success/scene_000228/shared_state.npz", + "video": "success/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000228/front.json", + "scene_id": "success/scene_000228", + "seed": 102280000, + "shared_state": "success/scene_000228/shared_state.npz", + "video": "success/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000228/right.json", + "scene_id": "success/scene_000228", + "seed": 102280000, + "shared_state": "success/scene_000228/shared_state.npz", + "video": "success/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000229/left.json", + "scene_id": "success/scene_000229", + "seed": 102290000, + "shared_state": "success/scene_000229/shared_state.npz", + "video": "success/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000229/front.json", + "scene_id": "success/scene_000229", + "seed": 102290000, + "shared_state": "success/scene_000229/shared_state.npz", + "video": "success/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000229/right.json", + "scene_id": "success/scene_000229", + "seed": 102290000, + "shared_state": "success/scene_000229/shared_state.npz", + "video": "success/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000230/left.json", + "scene_id": "success/scene_000230", + "seed": 102300000, + "shared_state": "success/scene_000230/shared_state.npz", + "video": "success/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000230/front.json", + "scene_id": "success/scene_000230", + "seed": 102300000, + "shared_state": "success/scene_000230/shared_state.npz", + "video": "success/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000230/right.json", + "scene_id": "success/scene_000230", + "seed": 102300000, + "shared_state": "success/scene_000230/shared_state.npz", + "video": "success/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000231/left.json", + "scene_id": "success/scene_000231", + "seed": 102310000, + "shared_state": "success/scene_000231/shared_state.npz", + "video": "success/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000231/front.json", + "scene_id": "success/scene_000231", + "seed": 102310000, + "shared_state": "success/scene_000231/shared_state.npz", + "video": "success/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000231/right.json", + "scene_id": "success/scene_000231", + "seed": 102310000, + "shared_state": "success/scene_000231/shared_state.npz", + "video": "success/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000232/left.json", + "scene_id": "success/scene_000232", + "seed": 102320000, + "shared_state": "success/scene_000232/shared_state.npz", + "video": "success/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000232/front.json", + "scene_id": "success/scene_000232", + "seed": 102320000, + "shared_state": "success/scene_000232/shared_state.npz", + "video": "success/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000232/right.json", + "scene_id": "success/scene_000232", + "seed": 102320000, + "shared_state": "success/scene_000232/shared_state.npz", + "video": "success/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000233/left.json", + "scene_id": "success/scene_000233", + "seed": 102330000, + "shared_state": "success/scene_000233/shared_state.npz", + "video": "success/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000233/front.json", + "scene_id": "success/scene_000233", + "seed": 102330000, + "shared_state": "success/scene_000233/shared_state.npz", + "video": "success/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000233/right.json", + "scene_id": "success/scene_000233", + "seed": 102330000, + "shared_state": "success/scene_000233/shared_state.npz", + "video": "success/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000234/left.json", + "scene_id": "success/scene_000234", + "seed": 102340000, + "shared_state": "success/scene_000234/shared_state.npz", + "video": "success/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000234/front.json", + "scene_id": "success/scene_000234", + "seed": 102340000, + "shared_state": "success/scene_000234/shared_state.npz", + "video": "success/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000234/right.json", + "scene_id": "success/scene_000234", + "seed": 102340000, + "shared_state": "success/scene_000234/shared_state.npz", + "video": "success/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000235/left.json", + "scene_id": "success/scene_000235", + "seed": 102350000, + "shared_state": "success/scene_000235/shared_state.npz", + "video": "success/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000235/front.json", + "scene_id": "success/scene_000235", + "seed": 102350000, + "shared_state": "success/scene_000235/shared_state.npz", + "video": "success/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000235/right.json", + "scene_id": "success/scene_000235", + "seed": 102350000, + "shared_state": "success/scene_000235/shared_state.npz", + "video": "success/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000236/left.json", + "scene_id": "success/scene_000236", + "seed": 102360000, + "shared_state": "success/scene_000236/shared_state.npz", + "video": "success/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000236/front.json", + "scene_id": "success/scene_000236", + "seed": 102360000, + "shared_state": "success/scene_000236/shared_state.npz", + "video": "success/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000236/right.json", + "scene_id": "success/scene_000236", + "seed": 102360000, + "shared_state": "success/scene_000236/shared_state.npz", + "video": "success/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000237/left.json", + "scene_id": "success/scene_000237", + "seed": 102370000, + "shared_state": "success/scene_000237/shared_state.npz", + "video": "success/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000237/front.json", + "scene_id": "success/scene_000237", + "seed": 102370000, + "shared_state": "success/scene_000237/shared_state.npz", + "video": "success/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000237/right.json", + "scene_id": "success/scene_000237", + "seed": 102370000, + "shared_state": "success/scene_000237/shared_state.npz", + "video": "success/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000238/left.json", + "scene_id": "success/scene_000238", + "seed": 102380000, + "shared_state": "success/scene_000238/shared_state.npz", + "video": "success/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000238/front.json", + "scene_id": "success/scene_000238", + "seed": 102380000, + "shared_state": "success/scene_000238/shared_state.npz", + "video": "success/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000238/right.json", + "scene_id": "success/scene_000238", + "seed": 102380000, + "shared_state": "success/scene_000238/shared_state.npz", + "video": "success/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000239/left.json", + "scene_id": "success/scene_000239", + "seed": 102390000, + "shared_state": "success/scene_000239/shared_state.npz", + "video": "success/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000239/front.json", + "scene_id": "success/scene_000239", + "seed": 102390000, + "shared_state": "success/scene_000239/shared_state.npz", + "video": "success/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000239/right.json", + "scene_id": "success/scene_000239", + "seed": 102390000, + "shared_state": "success/scene_000239/shared_state.npz", + "video": "success/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000240/left.json", + "scene_id": "success/scene_000240", + "seed": 102400000, + "shared_state": "success/scene_000240/shared_state.npz", + "video": "success/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000240/front.json", + "scene_id": "success/scene_000240", + "seed": 102400000, + "shared_state": "success/scene_000240/shared_state.npz", + "video": "success/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000240/right.json", + "scene_id": "success/scene_000240", + "seed": 102400000, + "shared_state": "success/scene_000240/shared_state.npz", + "video": "success/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000241/left.json", + "scene_id": "success/scene_000241", + "seed": 102410000, + "shared_state": "success/scene_000241/shared_state.npz", + "video": "success/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000241/front.json", + "scene_id": "success/scene_000241", + "seed": 102410000, + "shared_state": "success/scene_000241/shared_state.npz", + "video": "success/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000241/right.json", + "scene_id": "success/scene_000241", + "seed": 102410000, + "shared_state": "success/scene_000241/shared_state.npz", + "video": "success/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000242/left.json", + "scene_id": "success/scene_000242", + "seed": 102420001, + "shared_state": "success/scene_000242/shared_state.npz", + "video": "success/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000242/front.json", + "scene_id": "success/scene_000242", + "seed": 102420001, + "shared_state": "success/scene_000242/shared_state.npz", + "video": "success/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000242/right.json", + "scene_id": "success/scene_000242", + "seed": 102420001, + "shared_state": "success/scene_000242/shared_state.npz", + "video": "success/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000243/left.json", + "scene_id": "success/scene_000243", + "seed": 102430000, + "shared_state": "success/scene_000243/shared_state.npz", + "video": "success/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000243/front.json", + "scene_id": "success/scene_000243", + "seed": 102430000, + "shared_state": "success/scene_000243/shared_state.npz", + "video": "success/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000243/right.json", + "scene_id": "success/scene_000243", + "seed": 102430000, + "shared_state": "success/scene_000243/shared_state.npz", + "video": "success/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000244/left.json", + "scene_id": "success/scene_000244", + "seed": 102440000, + "shared_state": "success/scene_000244/shared_state.npz", + "video": "success/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000244/front.json", + "scene_id": "success/scene_000244", + "seed": 102440000, + "shared_state": "success/scene_000244/shared_state.npz", + "video": "success/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000244/right.json", + "scene_id": "success/scene_000244", + "seed": 102440000, + "shared_state": "success/scene_000244/shared_state.npz", + "video": "success/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000245/left.json", + "scene_id": "success/scene_000245", + "seed": 102450000, + "shared_state": "success/scene_000245/shared_state.npz", + "video": "success/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000245/front.json", + "scene_id": "success/scene_000245", + "seed": 102450000, + "shared_state": "success/scene_000245/shared_state.npz", + "video": "success/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000245/right.json", + "scene_id": "success/scene_000245", + "seed": 102450000, + "shared_state": "success/scene_000245/shared_state.npz", + "video": "success/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000246/left.json", + "scene_id": "success/scene_000246", + "seed": 102460000, + "shared_state": "success/scene_000246/shared_state.npz", + "video": "success/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000246/front.json", + "scene_id": "success/scene_000246", + "seed": 102460000, + "shared_state": "success/scene_000246/shared_state.npz", + "video": "success/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000246/right.json", + "scene_id": "success/scene_000246", + "seed": 102460000, + "shared_state": "success/scene_000246/shared_state.npz", + "video": "success/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000247/left.json", + "scene_id": "success/scene_000247", + "seed": 102470000, + "shared_state": "success/scene_000247/shared_state.npz", + "video": "success/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000247/front.json", + "scene_id": "success/scene_000247", + "seed": 102470000, + "shared_state": "success/scene_000247/shared_state.npz", + "video": "success/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000247/right.json", + "scene_id": "success/scene_000247", + "seed": 102470000, + "shared_state": "success/scene_000247/shared_state.npz", + "video": "success/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000248/left.json", + "scene_id": "success/scene_000248", + "seed": 102480000, + "shared_state": "success/scene_000248/shared_state.npz", + "video": "success/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000248/front.json", + "scene_id": "success/scene_000248", + "seed": 102480000, + "shared_state": "success/scene_000248/shared_state.npz", + "video": "success/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000248/right.json", + "scene_id": "success/scene_000248", + "seed": 102480000, + "shared_state": "success/scene_000248/shared_state.npz", + "video": "success/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000249/left.json", + "scene_id": "success/scene_000249", + "seed": 102490000, + "shared_state": "success/scene_000249/shared_state.npz", + "video": "success/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000249/front.json", + "scene_id": "success/scene_000249", + "seed": 102490000, + "shared_state": "success/scene_000249/shared_state.npz", + "video": "success/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000249/right.json", + "scene_id": "success/scene_000249", + "seed": 102490000, + "shared_state": "success/scene_000249/shared_state.npz", + "video": "success/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000250/left.json", + "scene_id": "success/scene_000250", + "seed": 102500000, + "shared_state": "success/scene_000250/shared_state.npz", + "video": "success/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000250/front.json", + "scene_id": "success/scene_000250", + "seed": 102500000, + "shared_state": "success/scene_000250/shared_state.npz", + "video": "success/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000250/right.json", + "scene_id": "success/scene_000250", + "seed": 102500000, + "shared_state": "success/scene_000250/shared_state.npz", + "video": "success/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000251/left.json", + "scene_id": "success/scene_000251", + "seed": 102510000, + "shared_state": "success/scene_000251/shared_state.npz", + "video": "success/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000251/front.json", + "scene_id": "success/scene_000251", + "seed": 102510000, + "shared_state": "success/scene_000251/shared_state.npz", + "video": "success/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000251/right.json", + "scene_id": "success/scene_000251", + "seed": 102510000, + "shared_state": "success/scene_000251/shared_state.npz", + "video": "success/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000252/left.json", + "scene_id": "success/scene_000252", + "seed": 102520001, + "shared_state": "success/scene_000252/shared_state.npz", + "video": "success/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000252/front.json", + "scene_id": "success/scene_000252", + "seed": 102520001, + "shared_state": "success/scene_000252/shared_state.npz", + "video": "success/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000252/right.json", + "scene_id": "success/scene_000252", + "seed": 102520001, + "shared_state": "success/scene_000252/shared_state.npz", + "video": "success/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000253/left.json", + "scene_id": "success/scene_000253", + "seed": 102530000, + "shared_state": "success/scene_000253/shared_state.npz", + "video": "success/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000253/front.json", + "scene_id": "success/scene_000253", + "seed": 102530000, + "shared_state": "success/scene_000253/shared_state.npz", + "video": "success/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000253/right.json", + "scene_id": "success/scene_000253", + "seed": 102530000, + "shared_state": "success/scene_000253/shared_state.npz", + "video": "success/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000254/left.json", + "scene_id": "success/scene_000254", + "seed": 102540000, + "shared_state": "success/scene_000254/shared_state.npz", + "video": "success/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000254/front.json", + "scene_id": "success/scene_000254", + "seed": 102540000, + "shared_state": "success/scene_000254/shared_state.npz", + "video": "success/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000254/right.json", + "scene_id": "success/scene_000254", + "seed": 102540000, + "shared_state": "success/scene_000254/shared_state.npz", + "video": "success/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000255/left.json", + "scene_id": "success/scene_000255", + "seed": 102550000, + "shared_state": "success/scene_000255/shared_state.npz", + "video": "success/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000255/front.json", + "scene_id": "success/scene_000255", + "seed": 102550000, + "shared_state": "success/scene_000255/shared_state.npz", + "video": "success/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000255/right.json", + "scene_id": "success/scene_000255", + "seed": 102550000, + "shared_state": "success/scene_000255/shared_state.npz", + "video": "success/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000256/left.json", + "scene_id": "success/scene_000256", + "seed": 102560000, + "shared_state": "success/scene_000256/shared_state.npz", + "video": "success/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000256/front.json", + "scene_id": "success/scene_000256", + "seed": 102560000, + "shared_state": "success/scene_000256/shared_state.npz", + "video": "success/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000256/right.json", + "scene_id": "success/scene_000256", + "seed": 102560000, + "shared_state": "success/scene_000256/shared_state.npz", + "video": "success/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000257/left.json", + "scene_id": "success/scene_000257", + "seed": 102570000, + "shared_state": "success/scene_000257/shared_state.npz", + "video": "success/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000257/front.json", + "scene_id": "success/scene_000257", + "seed": 102570000, + "shared_state": "success/scene_000257/shared_state.npz", + "video": "success/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000257/right.json", + "scene_id": "success/scene_000257", + "seed": 102570000, + "shared_state": "success/scene_000257/shared_state.npz", + "video": "success/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000258/left.json", + "scene_id": "success/scene_000258", + "seed": 102580000, + "shared_state": "success/scene_000258/shared_state.npz", + "video": "success/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000258/front.json", + "scene_id": "success/scene_000258", + "seed": 102580000, + "shared_state": "success/scene_000258/shared_state.npz", + "video": "success/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000258/right.json", + "scene_id": "success/scene_000258", + "seed": 102580000, + "shared_state": "success/scene_000258/shared_state.npz", + "video": "success/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000259/left.json", + "scene_id": "success/scene_000259", + "seed": 102590000, + "shared_state": "success/scene_000259/shared_state.npz", + "video": "success/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000259/front.json", + "scene_id": "success/scene_000259", + "seed": 102590000, + "shared_state": "success/scene_000259/shared_state.npz", + "video": "success/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000259/right.json", + "scene_id": "success/scene_000259", + "seed": 102590000, + "shared_state": "success/scene_000259/shared_state.npz", + "video": "success/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000260/left.json", + "scene_id": "success/scene_000260", + "seed": 102600000, + "shared_state": "success/scene_000260/shared_state.npz", + "video": "success/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000260/front.json", + "scene_id": "success/scene_000260", + "seed": 102600000, + "shared_state": "success/scene_000260/shared_state.npz", + "video": "success/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000260/right.json", + "scene_id": "success/scene_000260", + "seed": 102600000, + "shared_state": "success/scene_000260/shared_state.npz", + "video": "success/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000261/left.json", + "scene_id": "success/scene_000261", + "seed": 102610000, + "shared_state": "success/scene_000261/shared_state.npz", + "video": "success/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000261/front.json", + "scene_id": "success/scene_000261", + "seed": 102610000, + "shared_state": "success/scene_000261/shared_state.npz", + "video": "success/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000261/right.json", + "scene_id": "success/scene_000261", + "seed": 102610000, + "shared_state": "success/scene_000261/shared_state.npz", + "video": "success/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000262/left.json", + "scene_id": "success/scene_000262", + "seed": 102620000, + "shared_state": "success/scene_000262/shared_state.npz", + "video": "success/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000262/front.json", + "scene_id": "success/scene_000262", + "seed": 102620000, + "shared_state": "success/scene_000262/shared_state.npz", + "video": "success/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000262/right.json", + "scene_id": "success/scene_000262", + "seed": 102620000, + "shared_state": "success/scene_000262/shared_state.npz", + "video": "success/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000263/left.json", + "scene_id": "success/scene_000263", + "seed": 102630000, + "shared_state": "success/scene_000263/shared_state.npz", + "video": "success/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000263/front.json", + "scene_id": "success/scene_000263", + "seed": 102630000, + "shared_state": "success/scene_000263/shared_state.npz", + "video": "success/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000263/right.json", + "scene_id": "success/scene_000263", + "seed": 102630000, + "shared_state": "success/scene_000263/shared_state.npz", + "video": "success/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000264/left.json", + "scene_id": "success/scene_000264", + "seed": 102640000, + "shared_state": "success/scene_000264/shared_state.npz", + "video": "success/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000264/front.json", + "scene_id": "success/scene_000264", + "seed": 102640000, + "shared_state": "success/scene_000264/shared_state.npz", + "video": "success/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000264/right.json", + "scene_id": "success/scene_000264", + "seed": 102640000, + "shared_state": "success/scene_000264/shared_state.npz", + "video": "success/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000265/left.json", + "scene_id": "success/scene_000265", + "seed": 102650000, + "shared_state": "success/scene_000265/shared_state.npz", + "video": "success/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000265/front.json", + "scene_id": "success/scene_000265", + "seed": 102650000, + "shared_state": "success/scene_000265/shared_state.npz", + "video": "success/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000265/right.json", + "scene_id": "success/scene_000265", + "seed": 102650000, + "shared_state": "success/scene_000265/shared_state.npz", + "video": "success/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000266/left.json", + "scene_id": "success/scene_000266", + "seed": 102660000, + "shared_state": "success/scene_000266/shared_state.npz", + "video": "success/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000266/front.json", + "scene_id": "success/scene_000266", + "seed": 102660000, + "shared_state": "success/scene_000266/shared_state.npz", + "video": "success/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000266/right.json", + "scene_id": "success/scene_000266", + "seed": 102660000, + "shared_state": "success/scene_000266/shared_state.npz", + "video": "success/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000267/left.json", + "scene_id": "success/scene_000267", + "seed": 102670000, + "shared_state": "success/scene_000267/shared_state.npz", + "video": "success/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000267/front.json", + "scene_id": "success/scene_000267", + "seed": 102670000, + "shared_state": "success/scene_000267/shared_state.npz", + "video": "success/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000267/right.json", + "scene_id": "success/scene_000267", + "seed": 102670000, + "shared_state": "success/scene_000267/shared_state.npz", + "video": "success/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000268/left.json", + "scene_id": "success/scene_000268", + "seed": 102680000, + "shared_state": "success/scene_000268/shared_state.npz", + "video": "success/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000268/front.json", + "scene_id": "success/scene_000268", + "seed": 102680000, + "shared_state": "success/scene_000268/shared_state.npz", + "video": "success/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000268/right.json", + "scene_id": "success/scene_000268", + "seed": 102680000, + "shared_state": "success/scene_000268/shared_state.npz", + "video": "success/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000269/left.json", + "scene_id": "success/scene_000269", + "seed": 102690000, + "shared_state": "success/scene_000269/shared_state.npz", + "video": "success/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000269/front.json", + "scene_id": "success/scene_000269", + "seed": 102690000, + "shared_state": "success/scene_000269/shared_state.npz", + "video": "success/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000269/right.json", + "scene_id": "success/scene_000269", + "seed": 102690000, + "shared_state": "success/scene_000269/shared_state.npz", + "video": "success/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000270/left.json", + "scene_id": "success/scene_000270", + "seed": 102700000, + "shared_state": "success/scene_000270/shared_state.npz", + "video": "success/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000270/front.json", + "scene_id": "success/scene_000270", + "seed": 102700000, + "shared_state": "success/scene_000270/shared_state.npz", + "video": "success/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000270/right.json", + "scene_id": "success/scene_000270", + "seed": 102700000, + "shared_state": "success/scene_000270/shared_state.npz", + "video": "success/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000271/left.json", + "scene_id": "success/scene_000271", + "seed": 102710000, + "shared_state": "success/scene_000271/shared_state.npz", + "video": "success/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000271/front.json", + "scene_id": "success/scene_000271", + "seed": 102710000, + "shared_state": "success/scene_000271/shared_state.npz", + "video": "success/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000271/right.json", + "scene_id": "success/scene_000271", + "seed": 102710000, + "shared_state": "success/scene_000271/shared_state.npz", + "video": "success/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000272/left.json", + "scene_id": "success/scene_000272", + "seed": 102720000, + "shared_state": "success/scene_000272/shared_state.npz", + "video": "success/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000272/front.json", + "scene_id": "success/scene_000272", + "seed": 102720000, + "shared_state": "success/scene_000272/shared_state.npz", + "video": "success/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000272/right.json", + "scene_id": "success/scene_000272", + "seed": 102720000, + "shared_state": "success/scene_000272/shared_state.npz", + "video": "success/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000273/left.json", + "scene_id": "success/scene_000273", + "seed": 102730000, + "shared_state": "success/scene_000273/shared_state.npz", + "video": "success/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000273/front.json", + "scene_id": "success/scene_000273", + "seed": 102730000, + "shared_state": "success/scene_000273/shared_state.npz", + "video": "success/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000273/right.json", + "scene_id": "success/scene_000273", + "seed": 102730000, + "shared_state": "success/scene_000273/shared_state.npz", + "video": "success/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000274/left.json", + "scene_id": "success/scene_000274", + "seed": 102740000, + "shared_state": "success/scene_000274/shared_state.npz", + "video": "success/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000274/front.json", + "scene_id": "success/scene_000274", + "seed": 102740000, + "shared_state": "success/scene_000274/shared_state.npz", + "video": "success/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000274/right.json", + "scene_id": "success/scene_000274", + "seed": 102740000, + "shared_state": "success/scene_000274/shared_state.npz", + "video": "success/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000275/left.json", + "scene_id": "success/scene_000275", + "seed": 102750000, + "shared_state": "success/scene_000275/shared_state.npz", + "video": "success/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000275/front.json", + "scene_id": "success/scene_000275", + "seed": 102750000, + "shared_state": "success/scene_000275/shared_state.npz", + "video": "success/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000275/right.json", + "scene_id": "success/scene_000275", + "seed": 102750000, + "shared_state": "success/scene_000275/shared_state.npz", + "video": "success/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000276/left.json", + "scene_id": "success/scene_000276", + "seed": 102760000, + "shared_state": "success/scene_000276/shared_state.npz", + "video": "success/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000276/front.json", + "scene_id": "success/scene_000276", + "seed": 102760000, + "shared_state": "success/scene_000276/shared_state.npz", + "video": "success/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000276/right.json", + "scene_id": "success/scene_000276", + "seed": 102760000, + "shared_state": "success/scene_000276/shared_state.npz", + "video": "success/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000277/left.json", + "scene_id": "success/scene_000277", + "seed": 102770000, + "shared_state": "success/scene_000277/shared_state.npz", + "video": "success/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000277/front.json", + "scene_id": "success/scene_000277", + "seed": 102770000, + "shared_state": "success/scene_000277/shared_state.npz", + "video": "success/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000277/right.json", + "scene_id": "success/scene_000277", + "seed": 102770000, + "shared_state": "success/scene_000277/shared_state.npz", + "video": "success/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000278/left.json", + "scene_id": "success/scene_000278", + "seed": 102780000, + "shared_state": "success/scene_000278/shared_state.npz", + "video": "success/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000278/front.json", + "scene_id": "success/scene_000278", + "seed": 102780000, + "shared_state": "success/scene_000278/shared_state.npz", + "video": "success/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000278/right.json", + "scene_id": "success/scene_000278", + "seed": 102780000, + "shared_state": "success/scene_000278/shared_state.npz", + "video": "success/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000279/left.json", + "scene_id": "success/scene_000279", + "seed": 102790000, + "shared_state": "success/scene_000279/shared_state.npz", + "video": "success/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000279/front.json", + "scene_id": "success/scene_000279", + "seed": 102790000, + "shared_state": "success/scene_000279/shared_state.npz", + "video": "success/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000279/right.json", + "scene_id": "success/scene_000279", + "seed": 102790000, + "shared_state": "success/scene_000279/shared_state.npz", + "video": "success/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000280/left.json", + "scene_id": "success/scene_000280", + "seed": 102800000, + "shared_state": "success/scene_000280/shared_state.npz", + "video": "success/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000280/front.json", + "scene_id": "success/scene_000280", + "seed": 102800000, + "shared_state": "success/scene_000280/shared_state.npz", + "video": "success/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000280/right.json", + "scene_id": "success/scene_000280", + "seed": 102800000, + "shared_state": "success/scene_000280/shared_state.npz", + "video": "success/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000281/left.json", + "scene_id": "success/scene_000281", + "seed": 102810000, + "shared_state": "success/scene_000281/shared_state.npz", + "video": "success/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000281/front.json", + "scene_id": "success/scene_000281", + "seed": 102810000, + "shared_state": "success/scene_000281/shared_state.npz", + "video": "success/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000281/right.json", + "scene_id": "success/scene_000281", + "seed": 102810000, + "shared_state": "success/scene_000281/shared_state.npz", + "video": "success/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000282/left.json", + "scene_id": "success/scene_000282", + "seed": 102820000, + "shared_state": "success/scene_000282/shared_state.npz", + "video": "success/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000282/front.json", + "scene_id": "success/scene_000282", + "seed": 102820000, + "shared_state": "success/scene_000282/shared_state.npz", + "video": "success/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000282/right.json", + "scene_id": "success/scene_000282", + "seed": 102820000, + "shared_state": "success/scene_000282/shared_state.npz", + "video": "success/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000283/left.json", + "scene_id": "success/scene_000283", + "seed": 102830000, + "shared_state": "success/scene_000283/shared_state.npz", + "video": "success/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000283/front.json", + "scene_id": "success/scene_000283", + "seed": 102830000, + "shared_state": "success/scene_000283/shared_state.npz", + "video": "success/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000283/right.json", + "scene_id": "success/scene_000283", + "seed": 102830000, + "shared_state": "success/scene_000283/shared_state.npz", + "video": "success/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000284/left.json", + "scene_id": "success/scene_000284", + "seed": 102840000, + "shared_state": "success/scene_000284/shared_state.npz", + "video": "success/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000284/front.json", + "scene_id": "success/scene_000284", + "seed": 102840000, + "shared_state": "success/scene_000284/shared_state.npz", + "video": "success/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000284/right.json", + "scene_id": "success/scene_000284", + "seed": 102840000, + "shared_state": "success/scene_000284/shared_state.npz", + "video": "success/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000285/left.json", + "scene_id": "success/scene_000285", + "seed": 102850000, + "shared_state": "success/scene_000285/shared_state.npz", + "video": "success/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000285/front.json", + "scene_id": "success/scene_000285", + "seed": 102850000, + "shared_state": "success/scene_000285/shared_state.npz", + "video": "success/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000285/right.json", + "scene_id": "success/scene_000285", + "seed": 102850000, + "shared_state": "success/scene_000285/shared_state.npz", + "video": "success/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000286/left.json", + "scene_id": "success/scene_000286", + "seed": 102860000, + "shared_state": "success/scene_000286/shared_state.npz", + "video": "success/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000286/front.json", + "scene_id": "success/scene_000286", + "seed": 102860000, + "shared_state": "success/scene_000286/shared_state.npz", + "video": "success/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000286/right.json", + "scene_id": "success/scene_000286", + "seed": 102860000, + "shared_state": "success/scene_000286/shared_state.npz", + "video": "success/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000287/left.json", + "scene_id": "success/scene_000287", + "seed": 102870000, + "shared_state": "success/scene_000287/shared_state.npz", + "video": "success/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000287/front.json", + "scene_id": "success/scene_000287", + "seed": 102870000, + "shared_state": "success/scene_000287/shared_state.npz", + "video": "success/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000287/right.json", + "scene_id": "success/scene_000287", + "seed": 102870000, + "shared_state": "success/scene_000287/shared_state.npz", + "video": "success/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000288/left.json", + "scene_id": "success/scene_000288", + "seed": 102880000, + "shared_state": "success/scene_000288/shared_state.npz", + "video": "success/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000288/front.json", + "scene_id": "success/scene_000288", + "seed": 102880000, + "shared_state": "success/scene_000288/shared_state.npz", + "video": "success/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000288/right.json", + "scene_id": "success/scene_000288", + "seed": 102880000, + "shared_state": "success/scene_000288/shared_state.npz", + "video": "success/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000289/left.json", + "scene_id": "success/scene_000289", + "seed": 102890000, + "shared_state": "success/scene_000289/shared_state.npz", + "video": "success/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000289/front.json", + "scene_id": "success/scene_000289", + "seed": 102890000, + "shared_state": "success/scene_000289/shared_state.npz", + "video": "success/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000289/right.json", + "scene_id": "success/scene_000289", + "seed": 102890000, + "shared_state": "success/scene_000289/shared_state.npz", + "video": "success/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000290/left.json", + "scene_id": "success/scene_000290", + "seed": 102900000, + "shared_state": "success/scene_000290/shared_state.npz", + "video": "success/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000290/front.json", + "scene_id": "success/scene_000290", + "seed": 102900000, + "shared_state": "success/scene_000290/shared_state.npz", + "video": "success/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000290/right.json", + "scene_id": "success/scene_000290", + "seed": 102900000, + "shared_state": "success/scene_000290/shared_state.npz", + "video": "success/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000291/left.json", + "scene_id": "success/scene_000291", + "seed": 102910000, + "shared_state": "success/scene_000291/shared_state.npz", + "video": "success/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000291/front.json", + "scene_id": "success/scene_000291", + "seed": 102910000, + "shared_state": "success/scene_000291/shared_state.npz", + "video": "success/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000291/right.json", + "scene_id": "success/scene_000291", + "seed": 102910000, + "shared_state": "success/scene_000291/shared_state.npz", + "video": "success/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000292/left.json", + "scene_id": "success/scene_000292", + "seed": 102920000, + "shared_state": "success/scene_000292/shared_state.npz", + "video": "success/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000292/front.json", + "scene_id": "success/scene_000292", + "seed": 102920000, + "shared_state": "success/scene_000292/shared_state.npz", + "video": "success/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000292/right.json", + "scene_id": "success/scene_000292", + "seed": 102920000, + "shared_state": "success/scene_000292/shared_state.npz", + "video": "success/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000293/left.json", + "scene_id": "success/scene_000293", + "seed": 102930000, + "shared_state": "success/scene_000293/shared_state.npz", + "video": "success/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000293/front.json", + "scene_id": "success/scene_000293", + "seed": 102930000, + "shared_state": "success/scene_000293/shared_state.npz", + "video": "success/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000293/right.json", + "scene_id": "success/scene_000293", + "seed": 102930000, + "shared_state": "success/scene_000293/shared_state.npz", + "video": "success/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000294/left.json", + "scene_id": "success/scene_000294", + "seed": 102940000, + "shared_state": "success/scene_000294/shared_state.npz", + "video": "success/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000294/front.json", + "scene_id": "success/scene_000294", + "seed": 102940000, + "shared_state": "success/scene_000294/shared_state.npz", + "video": "success/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000294/right.json", + "scene_id": "success/scene_000294", + "seed": 102940000, + "shared_state": "success/scene_000294/shared_state.npz", + "video": "success/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000295/left.json", + "scene_id": "success/scene_000295", + "seed": 102950000, + "shared_state": "success/scene_000295/shared_state.npz", + "video": "success/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000295/front.json", + "scene_id": "success/scene_000295", + "seed": 102950000, + "shared_state": "success/scene_000295/shared_state.npz", + "video": "success/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000295/right.json", + "scene_id": "success/scene_000295", + "seed": 102950000, + "shared_state": "success/scene_000295/shared_state.npz", + "video": "success/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000296/left.json", + "scene_id": "success/scene_000296", + "seed": 102960000, + "shared_state": "success/scene_000296/shared_state.npz", + "video": "success/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000296/front.json", + "scene_id": "success/scene_000296", + "seed": 102960000, + "shared_state": "success/scene_000296/shared_state.npz", + "video": "success/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000296/right.json", + "scene_id": "success/scene_000296", + "seed": 102960000, + "shared_state": "success/scene_000296/shared_state.npz", + "video": "success/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000297/left.json", + "scene_id": "success/scene_000297", + "seed": 102970000, + "shared_state": "success/scene_000297/shared_state.npz", + "video": "success/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000297/front.json", + "scene_id": "success/scene_000297", + "seed": 102970000, + "shared_state": "success/scene_000297/shared_state.npz", + "video": "success/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000297/right.json", + "scene_id": "success/scene_000297", + "seed": 102970000, + "shared_state": "success/scene_000297/shared_state.npz", + "video": "success/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000298/left.json", + "scene_id": "success/scene_000298", + "seed": 102980000, + "shared_state": "success/scene_000298/shared_state.npz", + "video": "success/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000298/front.json", + "scene_id": "success/scene_000298", + "seed": 102980000, + "shared_state": "success/scene_000298/shared_state.npz", + "video": "success/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000298/right.json", + "scene_id": "success/scene_000298", + "seed": 102980000, + "shared_state": "success/scene_000298/shared_state.npz", + "video": "success/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000299/left.json", + "scene_id": "success/scene_000299", + "seed": 102990000, + "shared_state": "success/scene_000299/shared_state.npz", + "video": "success/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000299/front.json", + "scene_id": "success/scene_000299", + "seed": 102990000, + "shared_state": "success/scene_000299/shared_state.npz", + "video": "success/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "success", + "inherited": false, + "metadata": "success/scene_000299/right.json", + "scene_id": "success/scene_000299", + "seed": 102990000, + "shared_state": "success/scene_000299/shared_state.npz", + "video": "success/scene_000299/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000000/left.json", + "scene_id": "tube_drop/scene_000000", + "seed": 24260910, + "shared_state": "tube_drop/scene_000000/shared_state.npz", + "video": "tube_drop/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000000/front.json", + "scene_id": "tube_drop/scene_000000", + "seed": 24260910, + "shared_state": "tube_drop/scene_000000/shared_state.npz", + "video": "tube_drop/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000000/right.json", + "scene_id": "tube_drop/scene_000000", + "seed": 24260910, + "shared_state": "tube_drop/scene_000000/shared_state.npz", + "video": "tube_drop/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000001/left.json", + "scene_id": "tube_drop/scene_000001", + "seed": 24270909, + "shared_state": "tube_drop/scene_000001/shared_state.npz", + "video": "tube_drop/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000001/front.json", + "scene_id": "tube_drop/scene_000001", + "seed": 24270909, + "shared_state": "tube_drop/scene_000001/shared_state.npz", + "video": "tube_drop/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000001/right.json", + "scene_id": "tube_drop/scene_000001", + "seed": 24270909, + "shared_state": "tube_drop/scene_000001/shared_state.npz", + "video": "tube_drop/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000002/left.json", + "scene_id": "tube_drop/scene_000002", + "seed": 24280912, + "shared_state": "tube_drop/scene_000002/shared_state.npz", + "video": "tube_drop/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000002/front.json", + "scene_id": "tube_drop/scene_000002", + "seed": 24280912, + "shared_state": "tube_drop/scene_000002/shared_state.npz", + "video": "tube_drop/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000002/right.json", + "scene_id": "tube_drop/scene_000002", + "seed": 24280912, + "shared_state": "tube_drop/scene_000002/shared_state.npz", + "video": "tube_drop/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000003/left.json", + "scene_id": "tube_drop/scene_000003", + "seed": 24290914, + "shared_state": "tube_drop/scene_000003/shared_state.npz", + "video": "tube_drop/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000003/front.json", + "scene_id": "tube_drop/scene_000003", + "seed": 24290914, + "shared_state": "tube_drop/scene_000003/shared_state.npz", + "video": "tube_drop/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000003/right.json", + "scene_id": "tube_drop/scene_000003", + "seed": 24290914, + "shared_state": "tube_drop/scene_000003/shared_state.npz", + "video": "tube_drop/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000004/left.json", + "scene_id": "tube_drop/scene_000004", + "seed": 24300916, + "shared_state": "tube_drop/scene_000004/shared_state.npz", + "video": "tube_drop/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000004/front.json", + "scene_id": "tube_drop/scene_000004", + "seed": 24300916, + "shared_state": "tube_drop/scene_000004/shared_state.npz", + "video": "tube_drop/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000004/right.json", + "scene_id": "tube_drop/scene_000004", + "seed": 24300916, + "shared_state": "tube_drop/scene_000004/shared_state.npz", + "video": "tube_drop/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000005/left.json", + "scene_id": "tube_drop/scene_000005", + "seed": 24310912, + "shared_state": "tube_drop/scene_000005/shared_state.npz", + "video": "tube_drop/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000005/front.json", + "scene_id": "tube_drop/scene_000005", + "seed": 24310912, + "shared_state": "tube_drop/scene_000005/shared_state.npz", + "video": "tube_drop/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000005/right.json", + "scene_id": "tube_drop/scene_000005", + "seed": 24310912, + "shared_state": "tube_drop/scene_000005/shared_state.npz", + "video": "tube_drop/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000006/left.json", + "scene_id": "tube_drop/scene_000006", + "seed": 24320913, + "shared_state": "tube_drop/scene_000006/shared_state.npz", + "video": "tube_drop/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000006/front.json", + "scene_id": "tube_drop/scene_000006", + "seed": 24320913, + "shared_state": "tube_drop/scene_000006/shared_state.npz", + "video": "tube_drop/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000006/right.json", + "scene_id": "tube_drop/scene_000006", + "seed": 24320913, + "shared_state": "tube_drop/scene_000006/shared_state.npz", + "video": "tube_drop/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000007/left.json", + "scene_id": "tube_drop/scene_000007", + "seed": 24330909, + "shared_state": "tube_drop/scene_000007/shared_state.npz", + "video": "tube_drop/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000007/front.json", + "scene_id": "tube_drop/scene_000007", + "seed": 24330909, + "shared_state": "tube_drop/scene_000007/shared_state.npz", + "video": "tube_drop/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000007/right.json", + "scene_id": "tube_drop/scene_000007", + "seed": 24330909, + "shared_state": "tube_drop/scene_000007/shared_state.npz", + "video": "tube_drop/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000008/left.json", + "scene_id": "tube_drop/scene_000008", + "seed": 24340912, + "shared_state": "tube_drop/scene_000008/shared_state.npz", + "video": "tube_drop/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000008/front.json", + "scene_id": "tube_drop/scene_000008", + "seed": 24340912, + "shared_state": "tube_drop/scene_000008/shared_state.npz", + "video": "tube_drop/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000008/right.json", + "scene_id": "tube_drop/scene_000008", + "seed": 24340912, + "shared_state": "tube_drop/scene_000008/shared_state.npz", + "video": "tube_drop/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000009/left.json", + "scene_id": "tube_drop/scene_000009", + "seed": 24350914, + "shared_state": "tube_drop/scene_000009/shared_state.npz", + "video": "tube_drop/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000009/front.json", + "scene_id": "tube_drop/scene_000009", + "seed": 24350914, + "shared_state": "tube_drop/scene_000009/shared_state.npz", + "video": "tube_drop/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000009/right.json", + "scene_id": "tube_drop/scene_000009", + "seed": 24350914, + "shared_state": "tube_drop/scene_000009/shared_state.npz", + "video": "tube_drop/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000010/left.json", + "scene_id": "tube_drop/scene_000010", + "seed": 24360916, + "shared_state": "tube_drop/scene_000010/shared_state.npz", + "video": "tube_drop/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000010/front.json", + "scene_id": "tube_drop/scene_000010", + "seed": 24360916, + "shared_state": "tube_drop/scene_000010/shared_state.npz", + "video": "tube_drop/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000010/right.json", + "scene_id": "tube_drop/scene_000010", + "seed": 24360916, + "shared_state": "tube_drop/scene_000010/shared_state.npz", + "video": "tube_drop/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000011/left.json", + "scene_id": "tube_drop/scene_000011", + "seed": 24370914, + "shared_state": "tube_drop/scene_000011/shared_state.npz", + "video": "tube_drop/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000011/front.json", + "scene_id": "tube_drop/scene_000011", + "seed": 24370914, + "shared_state": "tube_drop/scene_000011/shared_state.npz", + "video": "tube_drop/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000011/right.json", + "scene_id": "tube_drop/scene_000011", + "seed": 24370914, + "shared_state": "tube_drop/scene_000011/shared_state.npz", + "video": "tube_drop/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000012/left.json", + "scene_id": "tube_drop/scene_000012", + "seed": 24380912, + "shared_state": "tube_drop/scene_000012/shared_state.npz", + "video": "tube_drop/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000012/front.json", + "scene_id": "tube_drop/scene_000012", + "seed": 24380912, + "shared_state": "tube_drop/scene_000012/shared_state.npz", + "video": "tube_drop/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000012/right.json", + "scene_id": "tube_drop/scene_000012", + "seed": 24380912, + "shared_state": "tube_drop/scene_000012/shared_state.npz", + "video": "tube_drop/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000013/left.json", + "scene_id": "tube_drop/scene_000013", + "seed": 24390911, + "shared_state": "tube_drop/scene_000013/shared_state.npz", + "video": "tube_drop/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000013/front.json", + "scene_id": "tube_drop/scene_000013", + "seed": 24390911, + "shared_state": "tube_drop/scene_000013/shared_state.npz", + "video": "tube_drop/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000013/right.json", + "scene_id": "tube_drop/scene_000013", + "seed": 24390911, + "shared_state": "tube_drop/scene_000013/shared_state.npz", + "video": "tube_drop/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000014/left.json", + "scene_id": "tube_drop/scene_000014", + "seed": 24400909, + "shared_state": "tube_drop/scene_000014/shared_state.npz", + "video": "tube_drop/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000014/front.json", + "scene_id": "tube_drop/scene_000014", + "seed": 24400909, + "shared_state": "tube_drop/scene_000014/shared_state.npz", + "video": "tube_drop/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000014/right.json", + "scene_id": "tube_drop/scene_000014", + "seed": 24400909, + "shared_state": "tube_drop/scene_000014/shared_state.npz", + "video": "tube_drop/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000015/left.json", + "scene_id": "tube_drop/scene_000015", + "seed": 24410910, + "shared_state": "tube_drop/scene_000015/shared_state.npz", + "video": "tube_drop/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000015/front.json", + "scene_id": "tube_drop/scene_000015", + "seed": 24410910, + "shared_state": "tube_drop/scene_000015/shared_state.npz", + "video": "tube_drop/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000015/right.json", + "scene_id": "tube_drop/scene_000015", + "seed": 24410910, + "shared_state": "tube_drop/scene_000015/shared_state.npz", + "video": "tube_drop/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000016/left.json", + "scene_id": "tube_drop/scene_000016", + "seed": 24420910, + "shared_state": "tube_drop/scene_000016/shared_state.npz", + "video": "tube_drop/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000016/front.json", + "scene_id": "tube_drop/scene_000016", + "seed": 24420910, + "shared_state": "tube_drop/scene_000016/shared_state.npz", + "video": "tube_drop/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000016/right.json", + "scene_id": "tube_drop/scene_000016", + "seed": 24420910, + "shared_state": "tube_drop/scene_000016/shared_state.npz", + "video": "tube_drop/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000017/left.json", + "scene_id": "tube_drop/scene_000017", + "seed": 24430914, + "shared_state": "tube_drop/scene_000017/shared_state.npz", + "video": "tube_drop/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000017/front.json", + "scene_id": "tube_drop/scene_000017", + "seed": 24430914, + "shared_state": "tube_drop/scene_000017/shared_state.npz", + "video": "tube_drop/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000017/right.json", + "scene_id": "tube_drop/scene_000017", + "seed": 24430914, + "shared_state": "tube_drop/scene_000017/shared_state.npz", + "video": "tube_drop/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000018/left.json", + "scene_id": "tube_drop/scene_000018", + "seed": 24440914, + "shared_state": "tube_drop/scene_000018/shared_state.npz", + "video": "tube_drop/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000018/front.json", + "scene_id": "tube_drop/scene_000018", + "seed": 24440914, + "shared_state": "tube_drop/scene_000018/shared_state.npz", + "video": "tube_drop/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000018/right.json", + "scene_id": "tube_drop/scene_000018", + "seed": 24440914, + "shared_state": "tube_drop/scene_000018/shared_state.npz", + "video": "tube_drop/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000019/left.json", + "scene_id": "tube_drop/scene_000019", + "seed": 24450909, + "shared_state": "tube_drop/scene_000019/shared_state.npz", + "video": "tube_drop/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000019/front.json", + "scene_id": "tube_drop/scene_000019", + "seed": 24450909, + "shared_state": "tube_drop/scene_000019/shared_state.npz", + "video": "tube_drop/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000019/right.json", + "scene_id": "tube_drop/scene_000019", + "seed": 24450909, + "shared_state": "tube_drop/scene_000019/shared_state.npz", + "video": "tube_drop/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000020/left.json", + "scene_id": "tube_drop/scene_000020", + "seed": 24460911, + "shared_state": "tube_drop/scene_000020/shared_state.npz", + "video": "tube_drop/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000020/front.json", + "scene_id": "tube_drop/scene_000020", + "seed": 24460911, + "shared_state": "tube_drop/scene_000020/shared_state.npz", + "video": "tube_drop/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000020/right.json", + "scene_id": "tube_drop/scene_000020", + "seed": 24460911, + "shared_state": "tube_drop/scene_000020/shared_state.npz", + "video": "tube_drop/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000021/left.json", + "scene_id": "tube_drop/scene_000021", + "seed": 24470910, + "shared_state": "tube_drop/scene_000021/shared_state.npz", + "video": "tube_drop/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000021/front.json", + "scene_id": "tube_drop/scene_000021", + "seed": 24470910, + "shared_state": "tube_drop/scene_000021/shared_state.npz", + "video": "tube_drop/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000021/right.json", + "scene_id": "tube_drop/scene_000021", + "seed": 24470910, + "shared_state": "tube_drop/scene_000021/shared_state.npz", + "video": "tube_drop/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000022/left.json", + "scene_id": "tube_drop/scene_000022", + "seed": 24480926, + "shared_state": "tube_drop/scene_000022/shared_state.npz", + "video": "tube_drop/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000022/front.json", + "scene_id": "tube_drop/scene_000022", + "seed": 24480926, + "shared_state": "tube_drop/scene_000022/shared_state.npz", + "video": "tube_drop/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000022/right.json", + "scene_id": "tube_drop/scene_000022", + "seed": 24480926, + "shared_state": "tube_drop/scene_000022/shared_state.npz", + "video": "tube_drop/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000023/left.json", + "scene_id": "tube_drop/scene_000023", + "seed": 24490909, + "shared_state": "tube_drop/scene_000023/shared_state.npz", + "video": "tube_drop/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000023/front.json", + "scene_id": "tube_drop/scene_000023", + "seed": 24490909, + "shared_state": "tube_drop/scene_000023/shared_state.npz", + "video": "tube_drop/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000023/right.json", + "scene_id": "tube_drop/scene_000023", + "seed": 24490909, + "shared_state": "tube_drop/scene_000023/shared_state.npz", + "video": "tube_drop/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000024/left.json", + "scene_id": "tube_drop/scene_000024", + "seed": 24500911, + "shared_state": "tube_drop/scene_000024/shared_state.npz", + "video": "tube_drop/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000024/front.json", + "scene_id": "tube_drop/scene_000024", + "seed": 24500911, + "shared_state": "tube_drop/scene_000024/shared_state.npz", + "video": "tube_drop/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000024/right.json", + "scene_id": "tube_drop/scene_000024", + "seed": 24500911, + "shared_state": "tube_drop/scene_000024/shared_state.npz", + "video": "tube_drop/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000025/left.json", + "scene_id": "tube_drop/scene_000025", + "seed": 24510910, + "shared_state": "tube_drop/scene_000025/shared_state.npz", + "video": "tube_drop/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000025/front.json", + "scene_id": "tube_drop/scene_000025", + "seed": 24510910, + "shared_state": "tube_drop/scene_000025/shared_state.npz", + "video": "tube_drop/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000025/right.json", + "scene_id": "tube_drop/scene_000025", + "seed": 24510910, + "shared_state": "tube_drop/scene_000025/shared_state.npz", + "video": "tube_drop/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000026/left.json", + "scene_id": "tube_drop/scene_000026", + "seed": 24520910, + "shared_state": "tube_drop/scene_000026/shared_state.npz", + "video": "tube_drop/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000026/front.json", + "scene_id": "tube_drop/scene_000026", + "seed": 24520910, + "shared_state": "tube_drop/scene_000026/shared_state.npz", + "video": "tube_drop/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000026/right.json", + "scene_id": "tube_drop/scene_000026", + "seed": 24520910, + "shared_state": "tube_drop/scene_000026/shared_state.npz", + "video": "tube_drop/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000027/left.json", + "scene_id": "tube_drop/scene_000027", + "seed": 24530912, + "shared_state": "tube_drop/scene_000027/shared_state.npz", + "video": "tube_drop/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000027/front.json", + "scene_id": "tube_drop/scene_000027", + "seed": 24530912, + "shared_state": "tube_drop/scene_000027/shared_state.npz", + "video": "tube_drop/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000027/right.json", + "scene_id": "tube_drop/scene_000027", + "seed": 24530912, + "shared_state": "tube_drop/scene_000027/shared_state.npz", + "video": "tube_drop/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000028/left.json", + "scene_id": "tube_drop/scene_000028", + "seed": 24540909, + "shared_state": "tube_drop/scene_000028/shared_state.npz", + "video": "tube_drop/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000028/front.json", + "scene_id": "tube_drop/scene_000028", + "seed": 24540909, + "shared_state": "tube_drop/scene_000028/shared_state.npz", + "video": "tube_drop/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000028/right.json", + "scene_id": "tube_drop/scene_000028", + "seed": 24540909, + "shared_state": "tube_drop/scene_000028/shared_state.npz", + "video": "tube_drop/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000029/left.json", + "scene_id": "tube_drop/scene_000029", + "seed": 24550914, + "shared_state": "tube_drop/scene_000029/shared_state.npz", + "video": "tube_drop/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000029/front.json", + "scene_id": "tube_drop/scene_000029", + "seed": 24550914, + "shared_state": "tube_drop/scene_000029/shared_state.npz", + "video": "tube_drop/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000029/right.json", + "scene_id": "tube_drop/scene_000029", + "seed": 24550914, + "shared_state": "tube_drop/scene_000029/shared_state.npz", + "video": "tube_drop/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000030/left.json", + "scene_id": "tube_drop/scene_000030", + "seed": 24560909, + "shared_state": "tube_drop/scene_000030/shared_state.npz", + "video": "tube_drop/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000030/front.json", + "scene_id": "tube_drop/scene_000030", + "seed": 24560909, + "shared_state": "tube_drop/scene_000030/shared_state.npz", + "video": "tube_drop/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000030/right.json", + "scene_id": "tube_drop/scene_000030", + "seed": 24560909, + "shared_state": "tube_drop/scene_000030/shared_state.npz", + "video": "tube_drop/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000031/left.json", + "scene_id": "tube_drop/scene_000031", + "seed": 24570909, + "shared_state": "tube_drop/scene_000031/shared_state.npz", + "video": "tube_drop/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000031/front.json", + "scene_id": "tube_drop/scene_000031", + "seed": 24570909, + "shared_state": "tube_drop/scene_000031/shared_state.npz", + "video": "tube_drop/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000031/right.json", + "scene_id": "tube_drop/scene_000031", + "seed": 24570909, + "shared_state": "tube_drop/scene_000031/shared_state.npz", + "video": "tube_drop/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000032/left.json", + "scene_id": "tube_drop/scene_000032", + "seed": 24580909, + "shared_state": "tube_drop/scene_000032/shared_state.npz", + "video": "tube_drop/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000032/front.json", + "scene_id": "tube_drop/scene_000032", + "seed": 24580909, + "shared_state": "tube_drop/scene_000032/shared_state.npz", + "video": "tube_drop/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000032/right.json", + "scene_id": "tube_drop/scene_000032", + "seed": 24580909, + "shared_state": "tube_drop/scene_000032/shared_state.npz", + "video": "tube_drop/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000033/left.json", + "scene_id": "tube_drop/scene_000033", + "seed": 24590912, + "shared_state": "tube_drop/scene_000033/shared_state.npz", + "video": "tube_drop/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000033/front.json", + "scene_id": "tube_drop/scene_000033", + "seed": 24590912, + "shared_state": "tube_drop/scene_000033/shared_state.npz", + "video": "tube_drop/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000033/right.json", + "scene_id": "tube_drop/scene_000033", + "seed": 24590912, + "shared_state": "tube_drop/scene_000033/shared_state.npz", + "video": "tube_drop/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000034/left.json", + "scene_id": "tube_drop/scene_000034", + "seed": 24600918, + "shared_state": "tube_drop/scene_000034/shared_state.npz", + "video": "tube_drop/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000034/front.json", + "scene_id": "tube_drop/scene_000034", + "seed": 24600918, + "shared_state": "tube_drop/scene_000034/shared_state.npz", + "video": "tube_drop/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000034/right.json", + "scene_id": "tube_drop/scene_000034", + "seed": 24600918, + "shared_state": "tube_drop/scene_000034/shared_state.npz", + "video": "tube_drop/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000035/left.json", + "scene_id": "tube_drop/scene_000035", + "seed": 24610919, + "shared_state": "tube_drop/scene_000035/shared_state.npz", + "video": "tube_drop/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000035/front.json", + "scene_id": "tube_drop/scene_000035", + "seed": 24610919, + "shared_state": "tube_drop/scene_000035/shared_state.npz", + "video": "tube_drop/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000035/right.json", + "scene_id": "tube_drop/scene_000035", + "seed": 24610919, + "shared_state": "tube_drop/scene_000035/shared_state.npz", + "video": "tube_drop/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000036/left.json", + "scene_id": "tube_drop/scene_000036", + "seed": 24620909, + "shared_state": "tube_drop/scene_000036/shared_state.npz", + "video": "tube_drop/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000036/front.json", + "scene_id": "tube_drop/scene_000036", + "seed": 24620909, + "shared_state": "tube_drop/scene_000036/shared_state.npz", + "video": "tube_drop/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000036/right.json", + "scene_id": "tube_drop/scene_000036", + "seed": 24620909, + "shared_state": "tube_drop/scene_000036/shared_state.npz", + "video": "tube_drop/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000037/left.json", + "scene_id": "tube_drop/scene_000037", + "seed": 24630922, + "shared_state": "tube_drop/scene_000037/shared_state.npz", + "video": "tube_drop/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000037/front.json", + "scene_id": "tube_drop/scene_000037", + "seed": 24630922, + "shared_state": "tube_drop/scene_000037/shared_state.npz", + "video": "tube_drop/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000037/right.json", + "scene_id": "tube_drop/scene_000037", + "seed": 24630922, + "shared_state": "tube_drop/scene_000037/shared_state.npz", + "video": "tube_drop/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000038/left.json", + "scene_id": "tube_drop/scene_000038", + "seed": 24640911, + "shared_state": "tube_drop/scene_000038/shared_state.npz", + "video": "tube_drop/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000038/front.json", + "scene_id": "tube_drop/scene_000038", + "seed": 24640911, + "shared_state": "tube_drop/scene_000038/shared_state.npz", + "video": "tube_drop/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000038/right.json", + "scene_id": "tube_drop/scene_000038", + "seed": 24640911, + "shared_state": "tube_drop/scene_000038/shared_state.npz", + "video": "tube_drop/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000039/left.json", + "scene_id": "tube_drop/scene_000039", + "seed": 24650910, + "shared_state": "tube_drop/scene_000039/shared_state.npz", + "video": "tube_drop/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000039/front.json", + "scene_id": "tube_drop/scene_000039", + "seed": 24650910, + "shared_state": "tube_drop/scene_000039/shared_state.npz", + "video": "tube_drop/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000039/right.json", + "scene_id": "tube_drop/scene_000039", + "seed": 24650910, + "shared_state": "tube_drop/scene_000039/shared_state.npz", + "video": "tube_drop/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000040/left.json", + "scene_id": "tube_drop/scene_000040", + "seed": 24660909, + "shared_state": "tube_drop/scene_000040/shared_state.npz", + "video": "tube_drop/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000040/front.json", + "scene_id": "tube_drop/scene_000040", + "seed": 24660909, + "shared_state": "tube_drop/scene_000040/shared_state.npz", + "video": "tube_drop/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000040/right.json", + "scene_id": "tube_drop/scene_000040", + "seed": 24660909, + "shared_state": "tube_drop/scene_000040/shared_state.npz", + "video": "tube_drop/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000041/left.json", + "scene_id": "tube_drop/scene_000041", + "seed": 24670911, + "shared_state": "tube_drop/scene_000041/shared_state.npz", + "video": "tube_drop/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000041/front.json", + "scene_id": "tube_drop/scene_000041", + "seed": 24670911, + "shared_state": "tube_drop/scene_000041/shared_state.npz", + "video": "tube_drop/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000041/right.json", + "scene_id": "tube_drop/scene_000041", + "seed": 24670911, + "shared_state": "tube_drop/scene_000041/shared_state.npz", + "video": "tube_drop/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000042/left.json", + "scene_id": "tube_drop/scene_000042", + "seed": 24680909, + "shared_state": "tube_drop/scene_000042/shared_state.npz", + "video": "tube_drop/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000042/front.json", + "scene_id": "tube_drop/scene_000042", + "seed": 24680909, + "shared_state": "tube_drop/scene_000042/shared_state.npz", + "video": "tube_drop/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000042/right.json", + "scene_id": "tube_drop/scene_000042", + "seed": 24680909, + "shared_state": "tube_drop/scene_000042/shared_state.npz", + "video": "tube_drop/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000043/left.json", + "scene_id": "tube_drop/scene_000043", + "seed": 24690911, + "shared_state": "tube_drop/scene_000043/shared_state.npz", + "video": "tube_drop/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000043/front.json", + "scene_id": "tube_drop/scene_000043", + "seed": 24690911, + "shared_state": "tube_drop/scene_000043/shared_state.npz", + "video": "tube_drop/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000043/right.json", + "scene_id": "tube_drop/scene_000043", + "seed": 24690911, + "shared_state": "tube_drop/scene_000043/shared_state.npz", + "video": "tube_drop/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000044/left.json", + "scene_id": "tube_drop/scene_000044", + "seed": 24700914, + "shared_state": "tube_drop/scene_000044/shared_state.npz", + "video": "tube_drop/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000044/front.json", + "scene_id": "tube_drop/scene_000044", + "seed": 24700914, + "shared_state": "tube_drop/scene_000044/shared_state.npz", + "video": "tube_drop/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000044/right.json", + "scene_id": "tube_drop/scene_000044", + "seed": 24700914, + "shared_state": "tube_drop/scene_000044/shared_state.npz", + "video": "tube_drop/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000045/left.json", + "scene_id": "tube_drop/scene_000045", + "seed": 24710913, + "shared_state": "tube_drop/scene_000045/shared_state.npz", + "video": "tube_drop/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000045/front.json", + "scene_id": "tube_drop/scene_000045", + "seed": 24710913, + "shared_state": "tube_drop/scene_000045/shared_state.npz", + "video": "tube_drop/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000045/right.json", + "scene_id": "tube_drop/scene_000045", + "seed": 24710913, + "shared_state": "tube_drop/scene_000045/shared_state.npz", + "video": "tube_drop/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000046/left.json", + "scene_id": "tube_drop/scene_000046", + "seed": 24720909, + "shared_state": "tube_drop/scene_000046/shared_state.npz", + "video": "tube_drop/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000046/front.json", + "scene_id": "tube_drop/scene_000046", + "seed": 24720909, + "shared_state": "tube_drop/scene_000046/shared_state.npz", + "video": "tube_drop/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000046/right.json", + "scene_id": "tube_drop/scene_000046", + "seed": 24720909, + "shared_state": "tube_drop/scene_000046/shared_state.npz", + "video": "tube_drop/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000047/left.json", + "scene_id": "tube_drop/scene_000047", + "seed": 24730912, + "shared_state": "tube_drop/scene_000047/shared_state.npz", + "video": "tube_drop/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000047/front.json", + "scene_id": "tube_drop/scene_000047", + "seed": 24730912, + "shared_state": "tube_drop/scene_000047/shared_state.npz", + "video": "tube_drop/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000047/right.json", + "scene_id": "tube_drop/scene_000047", + "seed": 24730912, + "shared_state": "tube_drop/scene_000047/shared_state.npz", + "video": "tube_drop/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000048/left.json", + "scene_id": "tube_drop/scene_000048", + "seed": 24740911, + "shared_state": "tube_drop/scene_000048/shared_state.npz", + "video": "tube_drop/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000048/front.json", + "scene_id": "tube_drop/scene_000048", + "seed": 24740911, + "shared_state": "tube_drop/scene_000048/shared_state.npz", + "video": "tube_drop/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000048/right.json", + "scene_id": "tube_drop/scene_000048", + "seed": 24740911, + "shared_state": "tube_drop/scene_000048/shared_state.npz", + "video": "tube_drop/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000049/left.json", + "scene_id": "tube_drop/scene_000049", + "seed": 24750915, + "shared_state": "tube_drop/scene_000049/shared_state.npz", + "video": "tube_drop/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000049/front.json", + "scene_id": "tube_drop/scene_000049", + "seed": 24750915, + "shared_state": "tube_drop/scene_000049/shared_state.npz", + "video": "tube_drop/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000049/right.json", + "scene_id": "tube_drop/scene_000049", + "seed": 24750915, + "shared_state": "tube_drop/scene_000049/shared_state.npz", + "video": "tube_drop/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000050/left.json", + "scene_id": "tube_drop/scene_000050", + "seed": 24760910, + "shared_state": "tube_drop/scene_000050/shared_state.npz", + "video": "tube_drop/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000050/front.json", + "scene_id": "tube_drop/scene_000050", + "seed": 24760910, + "shared_state": "tube_drop/scene_000050/shared_state.npz", + "video": "tube_drop/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000050/right.json", + "scene_id": "tube_drop/scene_000050", + "seed": 24760910, + "shared_state": "tube_drop/scene_000050/shared_state.npz", + "video": "tube_drop/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000051/left.json", + "scene_id": "tube_drop/scene_000051", + "seed": 24770913, + "shared_state": "tube_drop/scene_000051/shared_state.npz", + "video": "tube_drop/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000051/front.json", + "scene_id": "tube_drop/scene_000051", + "seed": 24770913, + "shared_state": "tube_drop/scene_000051/shared_state.npz", + "video": "tube_drop/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000051/right.json", + "scene_id": "tube_drop/scene_000051", + "seed": 24770913, + "shared_state": "tube_drop/scene_000051/shared_state.npz", + "video": "tube_drop/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000052/left.json", + "scene_id": "tube_drop/scene_000052", + "seed": 24780911, + "shared_state": "tube_drop/scene_000052/shared_state.npz", + "video": "tube_drop/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000052/front.json", + "scene_id": "tube_drop/scene_000052", + "seed": 24780911, + "shared_state": "tube_drop/scene_000052/shared_state.npz", + "video": "tube_drop/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000052/right.json", + "scene_id": "tube_drop/scene_000052", + "seed": 24780911, + "shared_state": "tube_drop/scene_000052/shared_state.npz", + "video": "tube_drop/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000053/left.json", + "scene_id": "tube_drop/scene_000053", + "seed": 24790916, + "shared_state": "tube_drop/scene_000053/shared_state.npz", + "video": "tube_drop/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000053/front.json", + "scene_id": "tube_drop/scene_000053", + "seed": 24790916, + "shared_state": "tube_drop/scene_000053/shared_state.npz", + "video": "tube_drop/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000053/right.json", + "scene_id": "tube_drop/scene_000053", + "seed": 24790916, + "shared_state": "tube_drop/scene_000053/shared_state.npz", + "video": "tube_drop/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000054/left.json", + "scene_id": "tube_drop/scene_000054", + "seed": 24800913, + "shared_state": "tube_drop/scene_000054/shared_state.npz", + "video": "tube_drop/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000054/front.json", + "scene_id": "tube_drop/scene_000054", + "seed": 24800913, + "shared_state": "tube_drop/scene_000054/shared_state.npz", + "video": "tube_drop/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000054/right.json", + "scene_id": "tube_drop/scene_000054", + "seed": 24800913, + "shared_state": "tube_drop/scene_000054/shared_state.npz", + "video": "tube_drop/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000055/left.json", + "scene_id": "tube_drop/scene_000055", + "seed": 24810914, + "shared_state": "tube_drop/scene_000055/shared_state.npz", + "video": "tube_drop/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000055/front.json", + "scene_id": "tube_drop/scene_000055", + "seed": 24810914, + "shared_state": "tube_drop/scene_000055/shared_state.npz", + "video": "tube_drop/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000055/right.json", + "scene_id": "tube_drop/scene_000055", + "seed": 24810914, + "shared_state": "tube_drop/scene_000055/shared_state.npz", + "video": "tube_drop/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000056/left.json", + "scene_id": "tube_drop/scene_000056", + "seed": 24820909, + "shared_state": "tube_drop/scene_000056/shared_state.npz", + "video": "tube_drop/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000056/front.json", + "scene_id": "tube_drop/scene_000056", + "seed": 24820909, + "shared_state": "tube_drop/scene_000056/shared_state.npz", + "video": "tube_drop/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000056/right.json", + "scene_id": "tube_drop/scene_000056", + "seed": 24820909, + "shared_state": "tube_drop/scene_000056/shared_state.npz", + "video": "tube_drop/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000057/left.json", + "scene_id": "tube_drop/scene_000057", + "seed": 24830915, + "shared_state": "tube_drop/scene_000057/shared_state.npz", + "video": "tube_drop/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000057/front.json", + "scene_id": "tube_drop/scene_000057", + "seed": 24830915, + "shared_state": "tube_drop/scene_000057/shared_state.npz", + "video": "tube_drop/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000057/right.json", + "scene_id": "tube_drop/scene_000057", + "seed": 24830915, + "shared_state": "tube_drop/scene_000057/shared_state.npz", + "video": "tube_drop/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000058/left.json", + "scene_id": "tube_drop/scene_000058", + "seed": 24840910, + "shared_state": "tube_drop/scene_000058/shared_state.npz", + "video": "tube_drop/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000058/front.json", + "scene_id": "tube_drop/scene_000058", + "seed": 24840910, + "shared_state": "tube_drop/scene_000058/shared_state.npz", + "video": "tube_drop/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000058/right.json", + "scene_id": "tube_drop/scene_000058", + "seed": 24840910, + "shared_state": "tube_drop/scene_000058/shared_state.npz", + "video": "tube_drop/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000059/left.json", + "scene_id": "tube_drop/scene_000059", + "seed": 24850911, + "shared_state": "tube_drop/scene_000059/shared_state.npz", + "video": "tube_drop/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000059/front.json", + "scene_id": "tube_drop/scene_000059", + "seed": 24850911, + "shared_state": "tube_drop/scene_000059/shared_state.npz", + "video": "tube_drop/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000059/right.json", + "scene_id": "tube_drop/scene_000059", + "seed": 24850911, + "shared_state": "tube_drop/scene_000059/shared_state.npz", + "video": "tube_drop/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000060/left.json", + "scene_id": "tube_drop/scene_000060", + "seed": 24860909, + "shared_state": "tube_drop/scene_000060/shared_state.npz", + "video": "tube_drop/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000060/front.json", + "scene_id": "tube_drop/scene_000060", + "seed": 24860909, + "shared_state": "tube_drop/scene_000060/shared_state.npz", + "video": "tube_drop/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000060/right.json", + "scene_id": "tube_drop/scene_000060", + "seed": 24860909, + "shared_state": "tube_drop/scene_000060/shared_state.npz", + "video": "tube_drop/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000061/left.json", + "scene_id": "tube_drop/scene_000061", + "seed": 24870915, + "shared_state": "tube_drop/scene_000061/shared_state.npz", + "video": "tube_drop/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000061/front.json", + "scene_id": "tube_drop/scene_000061", + "seed": 24870915, + "shared_state": "tube_drop/scene_000061/shared_state.npz", + "video": "tube_drop/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000061/right.json", + "scene_id": "tube_drop/scene_000061", + "seed": 24870915, + "shared_state": "tube_drop/scene_000061/shared_state.npz", + "video": "tube_drop/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000062/left.json", + "scene_id": "tube_drop/scene_000062", + "seed": 24880909, + "shared_state": "tube_drop/scene_000062/shared_state.npz", + "video": "tube_drop/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000062/front.json", + "scene_id": "tube_drop/scene_000062", + "seed": 24880909, + "shared_state": "tube_drop/scene_000062/shared_state.npz", + "video": "tube_drop/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000062/right.json", + "scene_id": "tube_drop/scene_000062", + "seed": 24880909, + "shared_state": "tube_drop/scene_000062/shared_state.npz", + "video": "tube_drop/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000063/left.json", + "scene_id": "tube_drop/scene_000063", + "seed": 24890909, + "shared_state": "tube_drop/scene_000063/shared_state.npz", + "video": "tube_drop/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000063/front.json", + "scene_id": "tube_drop/scene_000063", + "seed": 24890909, + "shared_state": "tube_drop/scene_000063/shared_state.npz", + "video": "tube_drop/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000063/right.json", + "scene_id": "tube_drop/scene_000063", + "seed": 24890909, + "shared_state": "tube_drop/scene_000063/shared_state.npz", + "video": "tube_drop/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000064/left.json", + "scene_id": "tube_drop/scene_000064", + "seed": 24900910, + "shared_state": "tube_drop/scene_000064/shared_state.npz", + "video": "tube_drop/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000064/front.json", + "scene_id": "tube_drop/scene_000064", + "seed": 24900910, + "shared_state": "tube_drop/scene_000064/shared_state.npz", + "video": "tube_drop/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000064/right.json", + "scene_id": "tube_drop/scene_000064", + "seed": 24900910, + "shared_state": "tube_drop/scene_000064/shared_state.npz", + "video": "tube_drop/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000065/left.json", + "scene_id": "tube_drop/scene_000065", + "seed": 24910909, + "shared_state": "tube_drop/scene_000065/shared_state.npz", + "video": "tube_drop/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000065/front.json", + "scene_id": "tube_drop/scene_000065", + "seed": 24910909, + "shared_state": "tube_drop/scene_000065/shared_state.npz", + "video": "tube_drop/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000065/right.json", + "scene_id": "tube_drop/scene_000065", + "seed": 24910909, + "shared_state": "tube_drop/scene_000065/shared_state.npz", + "video": "tube_drop/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000066/left.json", + "scene_id": "tube_drop/scene_000066", + "seed": 24920912, + "shared_state": "tube_drop/scene_000066/shared_state.npz", + "video": "tube_drop/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000066/front.json", + "scene_id": "tube_drop/scene_000066", + "seed": 24920912, + "shared_state": "tube_drop/scene_000066/shared_state.npz", + "video": "tube_drop/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000066/right.json", + "scene_id": "tube_drop/scene_000066", + "seed": 24920912, + "shared_state": "tube_drop/scene_000066/shared_state.npz", + "video": "tube_drop/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000067/left.json", + "scene_id": "tube_drop/scene_000067", + "seed": 24930910, + "shared_state": "tube_drop/scene_000067/shared_state.npz", + "video": "tube_drop/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000067/front.json", + "scene_id": "tube_drop/scene_000067", + "seed": 24930910, + "shared_state": "tube_drop/scene_000067/shared_state.npz", + "video": "tube_drop/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000067/right.json", + "scene_id": "tube_drop/scene_000067", + "seed": 24930910, + "shared_state": "tube_drop/scene_000067/shared_state.npz", + "video": "tube_drop/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000068/left.json", + "scene_id": "tube_drop/scene_000068", + "seed": 24940909, + "shared_state": "tube_drop/scene_000068/shared_state.npz", + "video": "tube_drop/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000068/front.json", + "scene_id": "tube_drop/scene_000068", + "seed": 24940909, + "shared_state": "tube_drop/scene_000068/shared_state.npz", + "video": "tube_drop/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000068/right.json", + "scene_id": "tube_drop/scene_000068", + "seed": 24940909, + "shared_state": "tube_drop/scene_000068/shared_state.npz", + "video": "tube_drop/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000069/left.json", + "scene_id": "tube_drop/scene_000069", + "seed": 24950910, + "shared_state": "tube_drop/scene_000069/shared_state.npz", + "video": "tube_drop/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000069/front.json", + "scene_id": "tube_drop/scene_000069", + "seed": 24950910, + "shared_state": "tube_drop/scene_000069/shared_state.npz", + "video": "tube_drop/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000069/right.json", + "scene_id": "tube_drop/scene_000069", + "seed": 24950910, + "shared_state": "tube_drop/scene_000069/shared_state.npz", + "video": "tube_drop/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000070/left.json", + "scene_id": "tube_drop/scene_000070", + "seed": 24960912, + "shared_state": "tube_drop/scene_000070/shared_state.npz", + "video": "tube_drop/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000070/front.json", + "scene_id": "tube_drop/scene_000070", + "seed": 24960912, + "shared_state": "tube_drop/scene_000070/shared_state.npz", + "video": "tube_drop/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000070/right.json", + "scene_id": "tube_drop/scene_000070", + "seed": 24960912, + "shared_state": "tube_drop/scene_000070/shared_state.npz", + "video": "tube_drop/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000071/left.json", + "scene_id": "tube_drop/scene_000071", + "seed": 24970910, + "shared_state": "tube_drop/scene_000071/shared_state.npz", + "video": "tube_drop/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000071/front.json", + "scene_id": "tube_drop/scene_000071", + "seed": 24970910, + "shared_state": "tube_drop/scene_000071/shared_state.npz", + "video": "tube_drop/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000071/right.json", + "scene_id": "tube_drop/scene_000071", + "seed": 24970910, + "shared_state": "tube_drop/scene_000071/shared_state.npz", + "video": "tube_drop/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000072/left.json", + "scene_id": "tube_drop/scene_000072", + "seed": 24980910, + "shared_state": "tube_drop/scene_000072/shared_state.npz", + "video": "tube_drop/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000072/front.json", + "scene_id": "tube_drop/scene_000072", + "seed": 24980910, + "shared_state": "tube_drop/scene_000072/shared_state.npz", + "video": "tube_drop/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000072/right.json", + "scene_id": "tube_drop/scene_000072", + "seed": 24980910, + "shared_state": "tube_drop/scene_000072/shared_state.npz", + "video": "tube_drop/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000073/left.json", + "scene_id": "tube_drop/scene_000073", + "seed": 24990913, + "shared_state": "tube_drop/scene_000073/shared_state.npz", + "video": "tube_drop/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000073/front.json", + "scene_id": "tube_drop/scene_000073", + "seed": 24990913, + "shared_state": "tube_drop/scene_000073/shared_state.npz", + "video": "tube_drop/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000073/right.json", + "scene_id": "tube_drop/scene_000073", + "seed": 24990913, + "shared_state": "tube_drop/scene_000073/shared_state.npz", + "video": "tube_drop/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000074/left.json", + "scene_id": "tube_drop/scene_000074", + "seed": 25000911, + "shared_state": "tube_drop/scene_000074/shared_state.npz", + "video": "tube_drop/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000074/front.json", + "scene_id": "tube_drop/scene_000074", + "seed": 25000911, + "shared_state": "tube_drop/scene_000074/shared_state.npz", + "video": "tube_drop/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000074/right.json", + "scene_id": "tube_drop/scene_000074", + "seed": 25000911, + "shared_state": "tube_drop/scene_000074/shared_state.npz", + "video": "tube_drop/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000075/left.json", + "scene_id": "tube_drop/scene_000075", + "seed": 25010912, + "shared_state": "tube_drop/scene_000075/shared_state.npz", + "video": "tube_drop/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000075/front.json", + "scene_id": "tube_drop/scene_000075", + "seed": 25010912, + "shared_state": "tube_drop/scene_000075/shared_state.npz", + "video": "tube_drop/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000075/right.json", + "scene_id": "tube_drop/scene_000075", + "seed": 25010912, + "shared_state": "tube_drop/scene_000075/shared_state.npz", + "video": "tube_drop/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000076/left.json", + "scene_id": "tube_drop/scene_000076", + "seed": 25020911, + "shared_state": "tube_drop/scene_000076/shared_state.npz", + "video": "tube_drop/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000076/front.json", + "scene_id": "tube_drop/scene_000076", + "seed": 25020911, + "shared_state": "tube_drop/scene_000076/shared_state.npz", + "video": "tube_drop/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000076/right.json", + "scene_id": "tube_drop/scene_000076", + "seed": 25020911, + "shared_state": "tube_drop/scene_000076/shared_state.npz", + "video": "tube_drop/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000077/left.json", + "scene_id": "tube_drop/scene_000077", + "seed": 25030909, + "shared_state": "tube_drop/scene_000077/shared_state.npz", + "video": "tube_drop/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000077/front.json", + "scene_id": "tube_drop/scene_000077", + "seed": 25030909, + "shared_state": "tube_drop/scene_000077/shared_state.npz", + "video": "tube_drop/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000077/right.json", + "scene_id": "tube_drop/scene_000077", + "seed": 25030909, + "shared_state": "tube_drop/scene_000077/shared_state.npz", + "video": "tube_drop/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000078/left.json", + "scene_id": "tube_drop/scene_000078", + "seed": 25040910, + "shared_state": "tube_drop/scene_000078/shared_state.npz", + "video": "tube_drop/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000078/front.json", + "scene_id": "tube_drop/scene_000078", + "seed": 25040910, + "shared_state": "tube_drop/scene_000078/shared_state.npz", + "video": "tube_drop/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000078/right.json", + "scene_id": "tube_drop/scene_000078", + "seed": 25040910, + "shared_state": "tube_drop/scene_000078/shared_state.npz", + "video": "tube_drop/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000079/left.json", + "scene_id": "tube_drop/scene_000079", + "seed": 25050919, + "shared_state": "tube_drop/scene_000079/shared_state.npz", + "video": "tube_drop/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000079/front.json", + "scene_id": "tube_drop/scene_000079", + "seed": 25050919, + "shared_state": "tube_drop/scene_000079/shared_state.npz", + "video": "tube_drop/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000079/right.json", + "scene_id": "tube_drop/scene_000079", + "seed": 25050919, + "shared_state": "tube_drop/scene_000079/shared_state.npz", + "video": "tube_drop/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000080/left.json", + "scene_id": "tube_drop/scene_000080", + "seed": 25060911, + "shared_state": "tube_drop/scene_000080/shared_state.npz", + "video": "tube_drop/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000080/front.json", + "scene_id": "tube_drop/scene_000080", + "seed": 25060911, + "shared_state": "tube_drop/scene_000080/shared_state.npz", + "video": "tube_drop/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000080/right.json", + "scene_id": "tube_drop/scene_000080", + "seed": 25060911, + "shared_state": "tube_drop/scene_000080/shared_state.npz", + "video": "tube_drop/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000081/left.json", + "scene_id": "tube_drop/scene_000081", + "seed": 25070910, + "shared_state": "tube_drop/scene_000081/shared_state.npz", + "video": "tube_drop/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000081/front.json", + "scene_id": "tube_drop/scene_000081", + "seed": 25070910, + "shared_state": "tube_drop/scene_000081/shared_state.npz", + "video": "tube_drop/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000081/right.json", + "scene_id": "tube_drop/scene_000081", + "seed": 25070910, + "shared_state": "tube_drop/scene_000081/shared_state.npz", + "video": "tube_drop/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000082/left.json", + "scene_id": "tube_drop/scene_000082", + "seed": 25080912, + "shared_state": "tube_drop/scene_000082/shared_state.npz", + "video": "tube_drop/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000082/front.json", + "scene_id": "tube_drop/scene_000082", + "seed": 25080912, + "shared_state": "tube_drop/scene_000082/shared_state.npz", + "video": "tube_drop/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000082/right.json", + "scene_id": "tube_drop/scene_000082", + "seed": 25080912, + "shared_state": "tube_drop/scene_000082/shared_state.npz", + "video": "tube_drop/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000083/left.json", + "scene_id": "tube_drop/scene_000083", + "seed": 25090912, + "shared_state": "tube_drop/scene_000083/shared_state.npz", + "video": "tube_drop/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000083/front.json", + "scene_id": "tube_drop/scene_000083", + "seed": 25090912, + "shared_state": "tube_drop/scene_000083/shared_state.npz", + "video": "tube_drop/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000083/right.json", + "scene_id": "tube_drop/scene_000083", + "seed": 25090912, + "shared_state": "tube_drop/scene_000083/shared_state.npz", + "video": "tube_drop/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000084/left.json", + "scene_id": "tube_drop/scene_000084", + "seed": 25100909, + "shared_state": "tube_drop/scene_000084/shared_state.npz", + "video": "tube_drop/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000084/front.json", + "scene_id": "tube_drop/scene_000084", + "seed": 25100909, + "shared_state": "tube_drop/scene_000084/shared_state.npz", + "video": "tube_drop/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000084/right.json", + "scene_id": "tube_drop/scene_000084", + "seed": 25100909, + "shared_state": "tube_drop/scene_000084/shared_state.npz", + "video": "tube_drop/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000085/left.json", + "scene_id": "tube_drop/scene_000085", + "seed": 25110909, + "shared_state": "tube_drop/scene_000085/shared_state.npz", + "video": "tube_drop/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000085/front.json", + "scene_id": "tube_drop/scene_000085", + "seed": 25110909, + "shared_state": "tube_drop/scene_000085/shared_state.npz", + "video": "tube_drop/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000085/right.json", + "scene_id": "tube_drop/scene_000085", + "seed": 25110909, + "shared_state": "tube_drop/scene_000085/shared_state.npz", + "video": "tube_drop/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000086/left.json", + "scene_id": "tube_drop/scene_000086", + "seed": 25120910, + "shared_state": "tube_drop/scene_000086/shared_state.npz", + "video": "tube_drop/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000086/front.json", + "scene_id": "tube_drop/scene_000086", + "seed": 25120910, + "shared_state": "tube_drop/scene_000086/shared_state.npz", + "video": "tube_drop/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000086/right.json", + "scene_id": "tube_drop/scene_000086", + "seed": 25120910, + "shared_state": "tube_drop/scene_000086/shared_state.npz", + "video": "tube_drop/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000087/left.json", + "scene_id": "tube_drop/scene_000087", + "seed": 25130911, + "shared_state": "tube_drop/scene_000087/shared_state.npz", + "video": "tube_drop/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000087/front.json", + "scene_id": "tube_drop/scene_000087", + "seed": 25130911, + "shared_state": "tube_drop/scene_000087/shared_state.npz", + "video": "tube_drop/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000087/right.json", + "scene_id": "tube_drop/scene_000087", + "seed": 25130911, + "shared_state": "tube_drop/scene_000087/shared_state.npz", + "video": "tube_drop/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000088/left.json", + "scene_id": "tube_drop/scene_000088", + "seed": 25140917, + "shared_state": "tube_drop/scene_000088/shared_state.npz", + "video": "tube_drop/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000088/front.json", + "scene_id": "tube_drop/scene_000088", + "seed": 25140917, + "shared_state": "tube_drop/scene_000088/shared_state.npz", + "video": "tube_drop/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000088/right.json", + "scene_id": "tube_drop/scene_000088", + "seed": 25140917, + "shared_state": "tube_drop/scene_000088/shared_state.npz", + "video": "tube_drop/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000089/left.json", + "scene_id": "tube_drop/scene_000089", + "seed": 25150911, + "shared_state": "tube_drop/scene_000089/shared_state.npz", + "video": "tube_drop/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000089/front.json", + "scene_id": "tube_drop/scene_000089", + "seed": 25150911, + "shared_state": "tube_drop/scene_000089/shared_state.npz", + "video": "tube_drop/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000089/right.json", + "scene_id": "tube_drop/scene_000089", + "seed": 25150911, + "shared_state": "tube_drop/scene_000089/shared_state.npz", + "video": "tube_drop/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000090/left.json", + "scene_id": "tube_drop/scene_000090", + "seed": 25160909, + "shared_state": "tube_drop/scene_000090/shared_state.npz", + "video": "tube_drop/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000090/front.json", + "scene_id": "tube_drop/scene_000090", + "seed": 25160909, + "shared_state": "tube_drop/scene_000090/shared_state.npz", + "video": "tube_drop/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000090/right.json", + "scene_id": "tube_drop/scene_000090", + "seed": 25160909, + "shared_state": "tube_drop/scene_000090/shared_state.npz", + "video": "tube_drop/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000091/left.json", + "scene_id": "tube_drop/scene_000091", + "seed": 25170909, + "shared_state": "tube_drop/scene_000091/shared_state.npz", + "video": "tube_drop/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000091/front.json", + "scene_id": "tube_drop/scene_000091", + "seed": 25170909, + "shared_state": "tube_drop/scene_000091/shared_state.npz", + "video": "tube_drop/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000091/right.json", + "scene_id": "tube_drop/scene_000091", + "seed": 25170909, + "shared_state": "tube_drop/scene_000091/shared_state.npz", + "video": "tube_drop/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000092/left.json", + "scene_id": "tube_drop/scene_000092", + "seed": 25180912, + "shared_state": "tube_drop/scene_000092/shared_state.npz", + "video": "tube_drop/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000092/front.json", + "scene_id": "tube_drop/scene_000092", + "seed": 25180912, + "shared_state": "tube_drop/scene_000092/shared_state.npz", + "video": "tube_drop/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000092/right.json", + "scene_id": "tube_drop/scene_000092", + "seed": 25180912, + "shared_state": "tube_drop/scene_000092/shared_state.npz", + "video": "tube_drop/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000093/left.json", + "scene_id": "tube_drop/scene_000093", + "seed": 25190913, + "shared_state": "tube_drop/scene_000093/shared_state.npz", + "video": "tube_drop/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000093/front.json", + "scene_id": "tube_drop/scene_000093", + "seed": 25190913, + "shared_state": "tube_drop/scene_000093/shared_state.npz", + "video": "tube_drop/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000093/right.json", + "scene_id": "tube_drop/scene_000093", + "seed": 25190913, + "shared_state": "tube_drop/scene_000093/shared_state.npz", + "video": "tube_drop/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000094/left.json", + "scene_id": "tube_drop/scene_000094", + "seed": 25200910, + "shared_state": "tube_drop/scene_000094/shared_state.npz", + "video": "tube_drop/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000094/front.json", + "scene_id": "tube_drop/scene_000094", + "seed": 25200910, + "shared_state": "tube_drop/scene_000094/shared_state.npz", + "video": "tube_drop/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000094/right.json", + "scene_id": "tube_drop/scene_000094", + "seed": 25200910, + "shared_state": "tube_drop/scene_000094/shared_state.npz", + "video": "tube_drop/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000095/left.json", + "scene_id": "tube_drop/scene_000095", + "seed": 25210920, + "shared_state": "tube_drop/scene_000095/shared_state.npz", + "video": "tube_drop/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000095/front.json", + "scene_id": "tube_drop/scene_000095", + "seed": 25210920, + "shared_state": "tube_drop/scene_000095/shared_state.npz", + "video": "tube_drop/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000095/right.json", + "scene_id": "tube_drop/scene_000095", + "seed": 25210920, + "shared_state": "tube_drop/scene_000095/shared_state.npz", + "video": "tube_drop/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000096/left.json", + "scene_id": "tube_drop/scene_000096", + "seed": 25220910, + "shared_state": "tube_drop/scene_000096/shared_state.npz", + "video": "tube_drop/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000096/front.json", + "scene_id": "tube_drop/scene_000096", + "seed": 25220910, + "shared_state": "tube_drop/scene_000096/shared_state.npz", + "video": "tube_drop/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000096/right.json", + "scene_id": "tube_drop/scene_000096", + "seed": 25220910, + "shared_state": "tube_drop/scene_000096/shared_state.npz", + "video": "tube_drop/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000097/left.json", + "scene_id": "tube_drop/scene_000097", + "seed": 25230914, + "shared_state": "tube_drop/scene_000097/shared_state.npz", + "video": "tube_drop/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000097/front.json", + "scene_id": "tube_drop/scene_000097", + "seed": 25230914, + "shared_state": "tube_drop/scene_000097/shared_state.npz", + "video": "tube_drop/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000097/right.json", + "scene_id": "tube_drop/scene_000097", + "seed": 25230914, + "shared_state": "tube_drop/scene_000097/shared_state.npz", + "video": "tube_drop/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000098/left.json", + "scene_id": "tube_drop/scene_000098", + "seed": 25240910, + "shared_state": "tube_drop/scene_000098/shared_state.npz", + "video": "tube_drop/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000098/front.json", + "scene_id": "tube_drop/scene_000098", + "seed": 25240910, + "shared_state": "tube_drop/scene_000098/shared_state.npz", + "video": "tube_drop/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000098/right.json", + "scene_id": "tube_drop/scene_000098", + "seed": 25240910, + "shared_state": "tube_drop/scene_000098/shared_state.npz", + "video": "tube_drop/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000099/left.json", + "scene_id": "tube_drop/scene_000099", + "seed": 25250920, + "shared_state": "tube_drop/scene_000099/shared_state.npz", + "video": "tube_drop/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000099/front.json", + "scene_id": "tube_drop/scene_000099", + "seed": 25250920, + "shared_state": "tube_drop/scene_000099/shared_state.npz", + "video": "tube_drop/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": true, + "metadata": "tube_drop/scene_000099/right.json", + "scene_id": "tube_drop/scene_000099", + "seed": 25250920, + "shared_state": "tube_drop/scene_000099/shared_state.npz", + "video": "tube_drop/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000100/left.json", + "scene_id": "tube_drop/scene_000100", + "seed": 141000000, + "shared_state": "tube_drop/scene_000100/shared_state.npz", + "video": "tube_drop/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000100/front.json", + "scene_id": "tube_drop/scene_000100", + "seed": 141000000, + "shared_state": "tube_drop/scene_000100/shared_state.npz", + "video": "tube_drop/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000100/right.json", + "scene_id": "tube_drop/scene_000100", + "seed": 141000000, + "shared_state": "tube_drop/scene_000100/shared_state.npz", + "video": "tube_drop/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000101/left.json", + "scene_id": "tube_drop/scene_000101", + "seed": 141010001, + "shared_state": "tube_drop/scene_000101/shared_state.npz", + "video": "tube_drop/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000101/front.json", + "scene_id": "tube_drop/scene_000101", + "seed": 141010001, + "shared_state": "tube_drop/scene_000101/shared_state.npz", + "video": "tube_drop/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000101/right.json", + "scene_id": "tube_drop/scene_000101", + "seed": 141010001, + "shared_state": "tube_drop/scene_000101/shared_state.npz", + "video": "tube_drop/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000102/left.json", + "scene_id": "tube_drop/scene_000102", + "seed": 141020000, + "shared_state": "tube_drop/scene_000102/shared_state.npz", + "video": "tube_drop/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000102/front.json", + "scene_id": "tube_drop/scene_000102", + "seed": 141020000, + "shared_state": "tube_drop/scene_000102/shared_state.npz", + "video": "tube_drop/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000102/right.json", + "scene_id": "tube_drop/scene_000102", + "seed": 141020000, + "shared_state": "tube_drop/scene_000102/shared_state.npz", + "video": "tube_drop/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000103/left.json", + "scene_id": "tube_drop/scene_000103", + "seed": 141030006, + "shared_state": "tube_drop/scene_000103/shared_state.npz", + "video": "tube_drop/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000103/front.json", + "scene_id": "tube_drop/scene_000103", + "seed": 141030006, + "shared_state": "tube_drop/scene_000103/shared_state.npz", + "video": "tube_drop/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000103/right.json", + "scene_id": "tube_drop/scene_000103", + "seed": 141030006, + "shared_state": "tube_drop/scene_000103/shared_state.npz", + "video": "tube_drop/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000104/left.json", + "scene_id": "tube_drop/scene_000104", + "seed": 141040000, + "shared_state": "tube_drop/scene_000104/shared_state.npz", + "video": "tube_drop/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000104/front.json", + "scene_id": "tube_drop/scene_000104", + "seed": 141040000, + "shared_state": "tube_drop/scene_000104/shared_state.npz", + "video": "tube_drop/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000104/right.json", + "scene_id": "tube_drop/scene_000104", + "seed": 141040000, + "shared_state": "tube_drop/scene_000104/shared_state.npz", + "video": "tube_drop/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000105/left.json", + "scene_id": "tube_drop/scene_000105", + "seed": 141050001, + "shared_state": "tube_drop/scene_000105/shared_state.npz", + "video": "tube_drop/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000105/front.json", + "scene_id": "tube_drop/scene_000105", + "seed": 141050001, + "shared_state": "tube_drop/scene_000105/shared_state.npz", + "video": "tube_drop/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000105/right.json", + "scene_id": "tube_drop/scene_000105", + "seed": 141050001, + "shared_state": "tube_drop/scene_000105/shared_state.npz", + "video": "tube_drop/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000106/left.json", + "scene_id": "tube_drop/scene_000106", + "seed": 141060002, + "shared_state": "tube_drop/scene_000106/shared_state.npz", + "video": "tube_drop/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000106/front.json", + "scene_id": "tube_drop/scene_000106", + "seed": 141060002, + "shared_state": "tube_drop/scene_000106/shared_state.npz", + "video": "tube_drop/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000106/right.json", + "scene_id": "tube_drop/scene_000106", + "seed": 141060002, + "shared_state": "tube_drop/scene_000106/shared_state.npz", + "video": "tube_drop/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000107/left.json", + "scene_id": "tube_drop/scene_000107", + "seed": 141070000, + "shared_state": "tube_drop/scene_000107/shared_state.npz", + "video": "tube_drop/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000107/front.json", + "scene_id": "tube_drop/scene_000107", + "seed": 141070000, + "shared_state": "tube_drop/scene_000107/shared_state.npz", + "video": "tube_drop/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000107/right.json", + "scene_id": "tube_drop/scene_000107", + "seed": 141070000, + "shared_state": "tube_drop/scene_000107/shared_state.npz", + "video": "tube_drop/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000108/left.json", + "scene_id": "tube_drop/scene_000108", + "seed": 141080001, + "shared_state": "tube_drop/scene_000108/shared_state.npz", + "video": "tube_drop/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000108/front.json", + "scene_id": "tube_drop/scene_000108", + "seed": 141080001, + "shared_state": "tube_drop/scene_000108/shared_state.npz", + "video": "tube_drop/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000108/right.json", + "scene_id": "tube_drop/scene_000108", + "seed": 141080001, + "shared_state": "tube_drop/scene_000108/shared_state.npz", + "video": "tube_drop/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000109/left.json", + "scene_id": "tube_drop/scene_000109", + "seed": 141090008, + "shared_state": "tube_drop/scene_000109/shared_state.npz", + "video": "tube_drop/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000109/front.json", + "scene_id": "tube_drop/scene_000109", + "seed": 141090008, + "shared_state": "tube_drop/scene_000109/shared_state.npz", + "video": "tube_drop/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000109/right.json", + "scene_id": "tube_drop/scene_000109", + "seed": 141090008, + "shared_state": "tube_drop/scene_000109/shared_state.npz", + "video": "tube_drop/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000110/left.json", + "scene_id": "tube_drop/scene_000110", + "seed": 141100008, + "shared_state": "tube_drop/scene_000110/shared_state.npz", + "video": "tube_drop/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000110/front.json", + "scene_id": "tube_drop/scene_000110", + "seed": 141100008, + "shared_state": "tube_drop/scene_000110/shared_state.npz", + "video": "tube_drop/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000110/right.json", + "scene_id": "tube_drop/scene_000110", + "seed": 141100008, + "shared_state": "tube_drop/scene_000110/shared_state.npz", + "video": "tube_drop/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000111/left.json", + "scene_id": "tube_drop/scene_000111", + "seed": 141110008, + "shared_state": "tube_drop/scene_000111/shared_state.npz", + "video": "tube_drop/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000111/front.json", + "scene_id": "tube_drop/scene_000111", + "seed": 141110008, + "shared_state": "tube_drop/scene_000111/shared_state.npz", + "video": "tube_drop/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000111/right.json", + "scene_id": "tube_drop/scene_000111", + "seed": 141110008, + "shared_state": "tube_drop/scene_000111/shared_state.npz", + "video": "tube_drop/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000112/left.json", + "scene_id": "tube_drop/scene_000112", + "seed": 141120002, + "shared_state": "tube_drop/scene_000112/shared_state.npz", + "video": "tube_drop/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000112/front.json", + "scene_id": "tube_drop/scene_000112", + "seed": 141120002, + "shared_state": "tube_drop/scene_000112/shared_state.npz", + "video": "tube_drop/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000112/right.json", + "scene_id": "tube_drop/scene_000112", + "seed": 141120002, + "shared_state": "tube_drop/scene_000112/shared_state.npz", + "video": "tube_drop/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000113/left.json", + "scene_id": "tube_drop/scene_000113", + "seed": 141130001, + "shared_state": "tube_drop/scene_000113/shared_state.npz", + "video": "tube_drop/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000113/front.json", + "scene_id": "tube_drop/scene_000113", + "seed": 141130001, + "shared_state": "tube_drop/scene_000113/shared_state.npz", + "video": "tube_drop/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000113/right.json", + "scene_id": "tube_drop/scene_000113", + "seed": 141130001, + "shared_state": "tube_drop/scene_000113/shared_state.npz", + "video": "tube_drop/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000114/left.json", + "scene_id": "tube_drop/scene_000114", + "seed": 141140000, + "shared_state": "tube_drop/scene_000114/shared_state.npz", + "video": "tube_drop/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000114/front.json", + "scene_id": "tube_drop/scene_000114", + "seed": 141140000, + "shared_state": "tube_drop/scene_000114/shared_state.npz", + "video": "tube_drop/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000114/right.json", + "scene_id": "tube_drop/scene_000114", + "seed": 141140000, + "shared_state": "tube_drop/scene_000114/shared_state.npz", + "video": "tube_drop/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000115/left.json", + "scene_id": "tube_drop/scene_000115", + "seed": 141150003, + "shared_state": "tube_drop/scene_000115/shared_state.npz", + "video": "tube_drop/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000115/front.json", + "scene_id": "tube_drop/scene_000115", + "seed": 141150003, + "shared_state": "tube_drop/scene_000115/shared_state.npz", + "video": "tube_drop/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000115/right.json", + "scene_id": "tube_drop/scene_000115", + "seed": 141150003, + "shared_state": "tube_drop/scene_000115/shared_state.npz", + "video": "tube_drop/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000116/left.json", + "scene_id": "tube_drop/scene_000116", + "seed": 141160001, + "shared_state": "tube_drop/scene_000116/shared_state.npz", + "video": "tube_drop/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000116/front.json", + "scene_id": "tube_drop/scene_000116", + "seed": 141160001, + "shared_state": "tube_drop/scene_000116/shared_state.npz", + "video": "tube_drop/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000116/right.json", + "scene_id": "tube_drop/scene_000116", + "seed": 141160001, + "shared_state": "tube_drop/scene_000116/shared_state.npz", + "video": "tube_drop/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000117/left.json", + "scene_id": "tube_drop/scene_000117", + "seed": 141170001, + "shared_state": "tube_drop/scene_000117/shared_state.npz", + "video": "tube_drop/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000117/front.json", + "scene_id": "tube_drop/scene_000117", + "seed": 141170001, + "shared_state": "tube_drop/scene_000117/shared_state.npz", + "video": "tube_drop/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000117/right.json", + "scene_id": "tube_drop/scene_000117", + "seed": 141170001, + "shared_state": "tube_drop/scene_000117/shared_state.npz", + "video": "tube_drop/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000118/left.json", + "scene_id": "tube_drop/scene_000118", + "seed": 141180000, + "shared_state": "tube_drop/scene_000118/shared_state.npz", + "video": "tube_drop/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000118/front.json", + "scene_id": "tube_drop/scene_000118", + "seed": 141180000, + "shared_state": "tube_drop/scene_000118/shared_state.npz", + "video": "tube_drop/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000118/right.json", + "scene_id": "tube_drop/scene_000118", + "seed": 141180000, + "shared_state": "tube_drop/scene_000118/shared_state.npz", + "video": "tube_drop/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000119/left.json", + "scene_id": "tube_drop/scene_000119", + "seed": 141190002, + "shared_state": "tube_drop/scene_000119/shared_state.npz", + "video": "tube_drop/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000119/front.json", + "scene_id": "tube_drop/scene_000119", + "seed": 141190002, + "shared_state": "tube_drop/scene_000119/shared_state.npz", + "video": "tube_drop/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000119/right.json", + "scene_id": "tube_drop/scene_000119", + "seed": 141190002, + "shared_state": "tube_drop/scene_000119/shared_state.npz", + "video": "tube_drop/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000120/left.json", + "scene_id": "tube_drop/scene_000120", + "seed": 141200001, + "shared_state": "tube_drop/scene_000120/shared_state.npz", + "video": "tube_drop/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000120/front.json", + "scene_id": "tube_drop/scene_000120", + "seed": 141200001, + "shared_state": "tube_drop/scene_000120/shared_state.npz", + "video": "tube_drop/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000120/right.json", + "scene_id": "tube_drop/scene_000120", + "seed": 141200001, + "shared_state": "tube_drop/scene_000120/shared_state.npz", + "video": "tube_drop/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000121/left.json", + "scene_id": "tube_drop/scene_000121", + "seed": 141210008, + "shared_state": "tube_drop/scene_000121/shared_state.npz", + "video": "tube_drop/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000121/front.json", + "scene_id": "tube_drop/scene_000121", + "seed": 141210008, + "shared_state": "tube_drop/scene_000121/shared_state.npz", + "video": "tube_drop/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000121/right.json", + "scene_id": "tube_drop/scene_000121", + "seed": 141210008, + "shared_state": "tube_drop/scene_000121/shared_state.npz", + "video": "tube_drop/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000122/left.json", + "scene_id": "tube_drop/scene_000122", + "seed": 141220004, + "shared_state": "tube_drop/scene_000122/shared_state.npz", + "video": "tube_drop/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000122/front.json", + "scene_id": "tube_drop/scene_000122", + "seed": 141220004, + "shared_state": "tube_drop/scene_000122/shared_state.npz", + "video": "tube_drop/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000122/right.json", + "scene_id": "tube_drop/scene_000122", + "seed": 141220004, + "shared_state": "tube_drop/scene_000122/shared_state.npz", + "video": "tube_drop/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000123/left.json", + "scene_id": "tube_drop/scene_000123", + "seed": 141230003, + "shared_state": "tube_drop/scene_000123/shared_state.npz", + "video": "tube_drop/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000123/front.json", + "scene_id": "tube_drop/scene_000123", + "seed": 141230003, + "shared_state": "tube_drop/scene_000123/shared_state.npz", + "video": "tube_drop/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000123/right.json", + "scene_id": "tube_drop/scene_000123", + "seed": 141230003, + "shared_state": "tube_drop/scene_000123/shared_state.npz", + "video": "tube_drop/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000124/left.json", + "scene_id": "tube_drop/scene_000124", + "seed": 141240001, + "shared_state": "tube_drop/scene_000124/shared_state.npz", + "video": "tube_drop/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000124/front.json", + "scene_id": "tube_drop/scene_000124", + "seed": 141240001, + "shared_state": "tube_drop/scene_000124/shared_state.npz", + "video": "tube_drop/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000124/right.json", + "scene_id": "tube_drop/scene_000124", + "seed": 141240001, + "shared_state": "tube_drop/scene_000124/shared_state.npz", + "video": "tube_drop/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000125/left.json", + "scene_id": "tube_drop/scene_000125", + "seed": 141250003, + "shared_state": "tube_drop/scene_000125/shared_state.npz", + "video": "tube_drop/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000125/front.json", + "scene_id": "tube_drop/scene_000125", + "seed": 141250003, + "shared_state": "tube_drop/scene_000125/shared_state.npz", + "video": "tube_drop/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000125/right.json", + "scene_id": "tube_drop/scene_000125", + "seed": 141250003, + "shared_state": "tube_drop/scene_000125/shared_state.npz", + "video": "tube_drop/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000126/left.json", + "scene_id": "tube_drop/scene_000126", + "seed": 141260001, + "shared_state": "tube_drop/scene_000126/shared_state.npz", + "video": "tube_drop/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000126/front.json", + "scene_id": "tube_drop/scene_000126", + "seed": 141260001, + "shared_state": "tube_drop/scene_000126/shared_state.npz", + "video": "tube_drop/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000126/right.json", + "scene_id": "tube_drop/scene_000126", + "seed": 141260001, + "shared_state": "tube_drop/scene_000126/shared_state.npz", + "video": "tube_drop/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000127/left.json", + "scene_id": "tube_drop/scene_000127", + "seed": 141270000, + "shared_state": "tube_drop/scene_000127/shared_state.npz", + "video": "tube_drop/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000127/front.json", + "scene_id": "tube_drop/scene_000127", + "seed": 141270000, + "shared_state": "tube_drop/scene_000127/shared_state.npz", + "video": "tube_drop/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000127/right.json", + "scene_id": "tube_drop/scene_000127", + "seed": 141270000, + "shared_state": "tube_drop/scene_000127/shared_state.npz", + "video": "tube_drop/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000128/left.json", + "scene_id": "tube_drop/scene_000128", + "seed": 141280000, + "shared_state": "tube_drop/scene_000128/shared_state.npz", + "video": "tube_drop/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000128/front.json", + "scene_id": "tube_drop/scene_000128", + "seed": 141280000, + "shared_state": "tube_drop/scene_000128/shared_state.npz", + "video": "tube_drop/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000128/right.json", + "scene_id": "tube_drop/scene_000128", + "seed": 141280000, + "shared_state": "tube_drop/scene_000128/shared_state.npz", + "video": "tube_drop/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000129/left.json", + "scene_id": "tube_drop/scene_000129", + "seed": 141290003, + "shared_state": "tube_drop/scene_000129/shared_state.npz", + "video": "tube_drop/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000129/front.json", + "scene_id": "tube_drop/scene_000129", + "seed": 141290003, + "shared_state": "tube_drop/scene_000129/shared_state.npz", + "video": "tube_drop/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000129/right.json", + "scene_id": "tube_drop/scene_000129", + "seed": 141290003, + "shared_state": "tube_drop/scene_000129/shared_state.npz", + "video": "tube_drop/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000130/left.json", + "scene_id": "tube_drop/scene_000130", + "seed": 141300000, + "shared_state": "tube_drop/scene_000130/shared_state.npz", + "video": "tube_drop/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000130/front.json", + "scene_id": "tube_drop/scene_000130", + "seed": 141300000, + "shared_state": "tube_drop/scene_000130/shared_state.npz", + "video": "tube_drop/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000130/right.json", + "scene_id": "tube_drop/scene_000130", + "seed": 141300000, + "shared_state": "tube_drop/scene_000130/shared_state.npz", + "video": "tube_drop/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000131/left.json", + "scene_id": "tube_drop/scene_000131", + "seed": 141310002, + "shared_state": "tube_drop/scene_000131/shared_state.npz", + "video": "tube_drop/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000131/front.json", + "scene_id": "tube_drop/scene_000131", + "seed": 141310002, + "shared_state": "tube_drop/scene_000131/shared_state.npz", + "video": "tube_drop/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000131/right.json", + "scene_id": "tube_drop/scene_000131", + "seed": 141310002, + "shared_state": "tube_drop/scene_000131/shared_state.npz", + "video": "tube_drop/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000132/left.json", + "scene_id": "tube_drop/scene_000132", + "seed": 141320001, + "shared_state": "tube_drop/scene_000132/shared_state.npz", + "video": "tube_drop/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000132/front.json", + "scene_id": "tube_drop/scene_000132", + "seed": 141320001, + "shared_state": "tube_drop/scene_000132/shared_state.npz", + "video": "tube_drop/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000132/right.json", + "scene_id": "tube_drop/scene_000132", + "seed": 141320001, + "shared_state": "tube_drop/scene_000132/shared_state.npz", + "video": "tube_drop/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000133/left.json", + "scene_id": "tube_drop/scene_000133", + "seed": 141330000, + "shared_state": "tube_drop/scene_000133/shared_state.npz", + "video": "tube_drop/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000133/front.json", + "scene_id": "tube_drop/scene_000133", + "seed": 141330000, + "shared_state": "tube_drop/scene_000133/shared_state.npz", + "video": "tube_drop/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000133/right.json", + "scene_id": "tube_drop/scene_000133", + "seed": 141330000, + "shared_state": "tube_drop/scene_000133/shared_state.npz", + "video": "tube_drop/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000134/left.json", + "scene_id": "tube_drop/scene_000134", + "seed": 141340005, + "shared_state": "tube_drop/scene_000134/shared_state.npz", + "video": "tube_drop/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000134/front.json", + "scene_id": "tube_drop/scene_000134", + "seed": 141340005, + "shared_state": "tube_drop/scene_000134/shared_state.npz", + "video": "tube_drop/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000134/right.json", + "scene_id": "tube_drop/scene_000134", + "seed": 141340005, + "shared_state": "tube_drop/scene_000134/shared_state.npz", + "video": "tube_drop/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000135/left.json", + "scene_id": "tube_drop/scene_000135", + "seed": 141350006, + "shared_state": "tube_drop/scene_000135/shared_state.npz", + "video": "tube_drop/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000135/front.json", + "scene_id": "tube_drop/scene_000135", + "seed": 141350006, + "shared_state": "tube_drop/scene_000135/shared_state.npz", + "video": "tube_drop/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000135/right.json", + "scene_id": "tube_drop/scene_000135", + "seed": 141350006, + "shared_state": "tube_drop/scene_000135/shared_state.npz", + "video": "tube_drop/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000136/left.json", + "scene_id": "tube_drop/scene_000136", + "seed": 141360006, + "shared_state": "tube_drop/scene_000136/shared_state.npz", + "video": "tube_drop/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000136/front.json", + "scene_id": "tube_drop/scene_000136", + "seed": 141360006, + "shared_state": "tube_drop/scene_000136/shared_state.npz", + "video": "tube_drop/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000136/right.json", + "scene_id": "tube_drop/scene_000136", + "seed": 141360006, + "shared_state": "tube_drop/scene_000136/shared_state.npz", + "video": "tube_drop/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000137/left.json", + "scene_id": "tube_drop/scene_000137", + "seed": 141370001, + "shared_state": "tube_drop/scene_000137/shared_state.npz", + "video": "tube_drop/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000137/front.json", + "scene_id": "tube_drop/scene_000137", + "seed": 141370001, + "shared_state": "tube_drop/scene_000137/shared_state.npz", + "video": "tube_drop/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000137/right.json", + "scene_id": "tube_drop/scene_000137", + "seed": 141370001, + "shared_state": "tube_drop/scene_000137/shared_state.npz", + "video": "tube_drop/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000138/left.json", + "scene_id": "tube_drop/scene_000138", + "seed": 141380001, + "shared_state": "tube_drop/scene_000138/shared_state.npz", + "video": "tube_drop/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000138/front.json", + "scene_id": "tube_drop/scene_000138", + "seed": 141380001, + "shared_state": "tube_drop/scene_000138/shared_state.npz", + "video": "tube_drop/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000138/right.json", + "scene_id": "tube_drop/scene_000138", + "seed": 141380001, + "shared_state": "tube_drop/scene_000138/shared_state.npz", + "video": "tube_drop/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000139/left.json", + "scene_id": "tube_drop/scene_000139", + "seed": 141390002, + "shared_state": "tube_drop/scene_000139/shared_state.npz", + "video": "tube_drop/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000139/front.json", + "scene_id": "tube_drop/scene_000139", + "seed": 141390002, + "shared_state": "tube_drop/scene_000139/shared_state.npz", + "video": "tube_drop/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000139/right.json", + "scene_id": "tube_drop/scene_000139", + "seed": 141390002, + "shared_state": "tube_drop/scene_000139/shared_state.npz", + "video": "tube_drop/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000140/left.json", + "scene_id": "tube_drop/scene_000140", + "seed": 141400002, + "shared_state": "tube_drop/scene_000140/shared_state.npz", + "video": "tube_drop/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000140/front.json", + "scene_id": "tube_drop/scene_000140", + "seed": 141400002, + "shared_state": "tube_drop/scene_000140/shared_state.npz", + "video": "tube_drop/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000140/right.json", + "scene_id": "tube_drop/scene_000140", + "seed": 141400002, + "shared_state": "tube_drop/scene_000140/shared_state.npz", + "video": "tube_drop/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000141/left.json", + "scene_id": "tube_drop/scene_000141", + "seed": 141410001, + "shared_state": "tube_drop/scene_000141/shared_state.npz", + "video": "tube_drop/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000141/front.json", + "scene_id": "tube_drop/scene_000141", + "seed": 141410001, + "shared_state": "tube_drop/scene_000141/shared_state.npz", + "video": "tube_drop/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000141/right.json", + "scene_id": "tube_drop/scene_000141", + "seed": 141410001, + "shared_state": "tube_drop/scene_000141/shared_state.npz", + "video": "tube_drop/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000142/left.json", + "scene_id": "tube_drop/scene_000142", + "seed": 141420004, + "shared_state": "tube_drop/scene_000142/shared_state.npz", + "video": "tube_drop/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000142/front.json", + "scene_id": "tube_drop/scene_000142", + "seed": 141420004, + "shared_state": "tube_drop/scene_000142/shared_state.npz", + "video": "tube_drop/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000142/right.json", + "scene_id": "tube_drop/scene_000142", + "seed": 141420004, + "shared_state": "tube_drop/scene_000142/shared_state.npz", + "video": "tube_drop/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000143/left.json", + "scene_id": "tube_drop/scene_000143", + "seed": 141430001, + "shared_state": "tube_drop/scene_000143/shared_state.npz", + "video": "tube_drop/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000143/front.json", + "scene_id": "tube_drop/scene_000143", + "seed": 141430001, + "shared_state": "tube_drop/scene_000143/shared_state.npz", + "video": "tube_drop/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000143/right.json", + "scene_id": "tube_drop/scene_000143", + "seed": 141430001, + "shared_state": "tube_drop/scene_000143/shared_state.npz", + "video": "tube_drop/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000144/left.json", + "scene_id": "tube_drop/scene_000144", + "seed": 141440001, + "shared_state": "tube_drop/scene_000144/shared_state.npz", + "video": "tube_drop/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000144/front.json", + "scene_id": "tube_drop/scene_000144", + "seed": 141440001, + "shared_state": "tube_drop/scene_000144/shared_state.npz", + "video": "tube_drop/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000144/right.json", + "scene_id": "tube_drop/scene_000144", + "seed": 141440001, + "shared_state": "tube_drop/scene_000144/shared_state.npz", + "video": "tube_drop/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000145/left.json", + "scene_id": "tube_drop/scene_000145", + "seed": 141450000, + "shared_state": "tube_drop/scene_000145/shared_state.npz", + "video": "tube_drop/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000145/front.json", + "scene_id": "tube_drop/scene_000145", + "seed": 141450000, + "shared_state": "tube_drop/scene_000145/shared_state.npz", + "video": "tube_drop/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000145/right.json", + "scene_id": "tube_drop/scene_000145", + "seed": 141450000, + "shared_state": "tube_drop/scene_000145/shared_state.npz", + "video": "tube_drop/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000146/left.json", + "scene_id": "tube_drop/scene_000146", + "seed": 141460007, + "shared_state": "tube_drop/scene_000146/shared_state.npz", + "video": "tube_drop/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000146/front.json", + "scene_id": "tube_drop/scene_000146", + "seed": 141460007, + "shared_state": "tube_drop/scene_000146/shared_state.npz", + "video": "tube_drop/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000146/right.json", + "scene_id": "tube_drop/scene_000146", + "seed": 141460007, + "shared_state": "tube_drop/scene_000146/shared_state.npz", + "video": "tube_drop/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000147/left.json", + "scene_id": "tube_drop/scene_000147", + "seed": 141470002, + "shared_state": "tube_drop/scene_000147/shared_state.npz", + "video": "tube_drop/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000147/front.json", + "scene_id": "tube_drop/scene_000147", + "seed": 141470002, + "shared_state": "tube_drop/scene_000147/shared_state.npz", + "video": "tube_drop/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000147/right.json", + "scene_id": "tube_drop/scene_000147", + "seed": 141470002, + "shared_state": "tube_drop/scene_000147/shared_state.npz", + "video": "tube_drop/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000148/left.json", + "scene_id": "tube_drop/scene_000148", + "seed": 141480001, + "shared_state": "tube_drop/scene_000148/shared_state.npz", + "video": "tube_drop/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000148/front.json", + "scene_id": "tube_drop/scene_000148", + "seed": 141480001, + "shared_state": "tube_drop/scene_000148/shared_state.npz", + "video": "tube_drop/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000148/right.json", + "scene_id": "tube_drop/scene_000148", + "seed": 141480001, + "shared_state": "tube_drop/scene_000148/shared_state.npz", + "video": "tube_drop/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000149/left.json", + "scene_id": "tube_drop/scene_000149", + "seed": 141490003, + "shared_state": "tube_drop/scene_000149/shared_state.npz", + "video": "tube_drop/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000149/front.json", + "scene_id": "tube_drop/scene_000149", + "seed": 141490003, + "shared_state": "tube_drop/scene_000149/shared_state.npz", + "video": "tube_drop/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000149/right.json", + "scene_id": "tube_drop/scene_000149", + "seed": 141490003, + "shared_state": "tube_drop/scene_000149/shared_state.npz", + "video": "tube_drop/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000150/left.json", + "scene_id": "tube_drop/scene_000150", + "seed": 141500001, + "shared_state": "tube_drop/scene_000150/shared_state.npz", + "video": "tube_drop/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000150/front.json", + "scene_id": "tube_drop/scene_000150", + "seed": 141500001, + "shared_state": "tube_drop/scene_000150/shared_state.npz", + "video": "tube_drop/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000150/right.json", + "scene_id": "tube_drop/scene_000150", + "seed": 141500001, + "shared_state": "tube_drop/scene_000150/shared_state.npz", + "video": "tube_drop/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000151/left.json", + "scene_id": "tube_drop/scene_000151", + "seed": 141510004, + "shared_state": "tube_drop/scene_000151/shared_state.npz", + "video": "tube_drop/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000151/front.json", + "scene_id": "tube_drop/scene_000151", + "seed": 141510004, + "shared_state": "tube_drop/scene_000151/shared_state.npz", + "video": "tube_drop/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000151/right.json", + "scene_id": "tube_drop/scene_000151", + "seed": 141510004, + "shared_state": "tube_drop/scene_000151/shared_state.npz", + "video": "tube_drop/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000152/left.json", + "scene_id": "tube_drop/scene_000152", + "seed": 141520006, + "shared_state": "tube_drop/scene_000152/shared_state.npz", + "video": "tube_drop/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000152/front.json", + "scene_id": "tube_drop/scene_000152", + "seed": 141520006, + "shared_state": "tube_drop/scene_000152/shared_state.npz", + "video": "tube_drop/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000152/right.json", + "scene_id": "tube_drop/scene_000152", + "seed": 141520006, + "shared_state": "tube_drop/scene_000152/shared_state.npz", + "video": "tube_drop/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000153/left.json", + "scene_id": "tube_drop/scene_000153", + "seed": 141530000, + "shared_state": "tube_drop/scene_000153/shared_state.npz", + "video": "tube_drop/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000153/front.json", + "scene_id": "tube_drop/scene_000153", + "seed": 141530000, + "shared_state": "tube_drop/scene_000153/shared_state.npz", + "video": "tube_drop/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000153/right.json", + "scene_id": "tube_drop/scene_000153", + "seed": 141530000, + "shared_state": "tube_drop/scene_000153/shared_state.npz", + "video": "tube_drop/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000154/left.json", + "scene_id": "tube_drop/scene_000154", + "seed": 141540000, + "shared_state": "tube_drop/scene_000154/shared_state.npz", + "video": "tube_drop/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000154/front.json", + "scene_id": "tube_drop/scene_000154", + "seed": 141540000, + "shared_state": "tube_drop/scene_000154/shared_state.npz", + "video": "tube_drop/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000154/right.json", + "scene_id": "tube_drop/scene_000154", + "seed": 141540000, + "shared_state": "tube_drop/scene_000154/shared_state.npz", + "video": "tube_drop/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000155/left.json", + "scene_id": "tube_drop/scene_000155", + "seed": 141550000, + "shared_state": "tube_drop/scene_000155/shared_state.npz", + "video": "tube_drop/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000155/front.json", + "scene_id": "tube_drop/scene_000155", + "seed": 141550000, + "shared_state": "tube_drop/scene_000155/shared_state.npz", + "video": "tube_drop/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000155/right.json", + "scene_id": "tube_drop/scene_000155", + "seed": 141550000, + "shared_state": "tube_drop/scene_000155/shared_state.npz", + "video": "tube_drop/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000156/left.json", + "scene_id": "tube_drop/scene_000156", + "seed": 141560000, + "shared_state": "tube_drop/scene_000156/shared_state.npz", + "video": "tube_drop/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000156/front.json", + "scene_id": "tube_drop/scene_000156", + "seed": 141560000, + "shared_state": "tube_drop/scene_000156/shared_state.npz", + "video": "tube_drop/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000156/right.json", + "scene_id": "tube_drop/scene_000156", + "seed": 141560000, + "shared_state": "tube_drop/scene_000156/shared_state.npz", + "video": "tube_drop/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000157/left.json", + "scene_id": "tube_drop/scene_000157", + "seed": 141570004, + "shared_state": "tube_drop/scene_000157/shared_state.npz", + "video": "tube_drop/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000157/front.json", + "scene_id": "tube_drop/scene_000157", + "seed": 141570004, + "shared_state": "tube_drop/scene_000157/shared_state.npz", + "video": "tube_drop/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000157/right.json", + "scene_id": "tube_drop/scene_000157", + "seed": 141570004, + "shared_state": "tube_drop/scene_000157/shared_state.npz", + "video": "tube_drop/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000158/left.json", + "scene_id": "tube_drop/scene_000158", + "seed": 141580000, + "shared_state": "tube_drop/scene_000158/shared_state.npz", + "video": "tube_drop/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000158/front.json", + "scene_id": "tube_drop/scene_000158", + "seed": 141580000, + "shared_state": "tube_drop/scene_000158/shared_state.npz", + "video": "tube_drop/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000158/right.json", + "scene_id": "tube_drop/scene_000158", + "seed": 141580000, + "shared_state": "tube_drop/scene_000158/shared_state.npz", + "video": "tube_drop/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000159/left.json", + "scene_id": "tube_drop/scene_000159", + "seed": 141590004, + "shared_state": "tube_drop/scene_000159/shared_state.npz", + "video": "tube_drop/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000159/front.json", + "scene_id": "tube_drop/scene_000159", + "seed": 141590004, + "shared_state": "tube_drop/scene_000159/shared_state.npz", + "video": "tube_drop/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000159/right.json", + "scene_id": "tube_drop/scene_000159", + "seed": 141590004, + "shared_state": "tube_drop/scene_000159/shared_state.npz", + "video": "tube_drop/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000160/left.json", + "scene_id": "tube_drop/scene_000160", + "seed": 141600003, + "shared_state": "tube_drop/scene_000160/shared_state.npz", + "video": "tube_drop/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000160/front.json", + "scene_id": "tube_drop/scene_000160", + "seed": 141600003, + "shared_state": "tube_drop/scene_000160/shared_state.npz", + "video": "tube_drop/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000160/right.json", + "scene_id": "tube_drop/scene_000160", + "seed": 141600003, + "shared_state": "tube_drop/scene_000160/shared_state.npz", + "video": "tube_drop/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000161/left.json", + "scene_id": "tube_drop/scene_000161", + "seed": 141610000, + "shared_state": "tube_drop/scene_000161/shared_state.npz", + "video": "tube_drop/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000161/front.json", + "scene_id": "tube_drop/scene_000161", + "seed": 141610000, + "shared_state": "tube_drop/scene_000161/shared_state.npz", + "video": "tube_drop/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000161/right.json", + "scene_id": "tube_drop/scene_000161", + "seed": 141610000, + "shared_state": "tube_drop/scene_000161/shared_state.npz", + "video": "tube_drop/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000162/left.json", + "scene_id": "tube_drop/scene_000162", + "seed": 141620003, + "shared_state": "tube_drop/scene_000162/shared_state.npz", + "video": "tube_drop/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000162/front.json", + "scene_id": "tube_drop/scene_000162", + "seed": 141620003, + "shared_state": "tube_drop/scene_000162/shared_state.npz", + "video": "tube_drop/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000162/right.json", + "scene_id": "tube_drop/scene_000162", + "seed": 141620003, + "shared_state": "tube_drop/scene_000162/shared_state.npz", + "video": "tube_drop/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000163/left.json", + "scene_id": "tube_drop/scene_000163", + "seed": 141630000, + "shared_state": "tube_drop/scene_000163/shared_state.npz", + "video": "tube_drop/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000163/front.json", + "scene_id": "tube_drop/scene_000163", + "seed": 141630000, + "shared_state": "tube_drop/scene_000163/shared_state.npz", + "video": "tube_drop/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000163/right.json", + "scene_id": "tube_drop/scene_000163", + "seed": 141630000, + "shared_state": "tube_drop/scene_000163/shared_state.npz", + "video": "tube_drop/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000164/left.json", + "scene_id": "tube_drop/scene_000164", + "seed": 141640000, + "shared_state": "tube_drop/scene_000164/shared_state.npz", + "video": "tube_drop/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000164/front.json", + "scene_id": "tube_drop/scene_000164", + "seed": 141640000, + "shared_state": "tube_drop/scene_000164/shared_state.npz", + "video": "tube_drop/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000164/right.json", + "scene_id": "tube_drop/scene_000164", + "seed": 141640000, + "shared_state": "tube_drop/scene_000164/shared_state.npz", + "video": "tube_drop/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000165/left.json", + "scene_id": "tube_drop/scene_000165", + "seed": 141650008, + "shared_state": "tube_drop/scene_000165/shared_state.npz", + "video": "tube_drop/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000165/front.json", + "scene_id": "tube_drop/scene_000165", + "seed": 141650008, + "shared_state": "tube_drop/scene_000165/shared_state.npz", + "video": "tube_drop/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000165/right.json", + "scene_id": "tube_drop/scene_000165", + "seed": 141650008, + "shared_state": "tube_drop/scene_000165/shared_state.npz", + "video": "tube_drop/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000166/left.json", + "scene_id": "tube_drop/scene_000166", + "seed": 141660001, + "shared_state": "tube_drop/scene_000166/shared_state.npz", + "video": "tube_drop/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000166/front.json", + "scene_id": "tube_drop/scene_000166", + "seed": 141660001, + "shared_state": "tube_drop/scene_000166/shared_state.npz", + "video": "tube_drop/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000166/right.json", + "scene_id": "tube_drop/scene_000166", + "seed": 141660001, + "shared_state": "tube_drop/scene_000166/shared_state.npz", + "video": "tube_drop/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000167/left.json", + "scene_id": "tube_drop/scene_000167", + "seed": 141670000, + "shared_state": "tube_drop/scene_000167/shared_state.npz", + "video": "tube_drop/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000167/front.json", + "scene_id": "tube_drop/scene_000167", + "seed": 141670000, + "shared_state": "tube_drop/scene_000167/shared_state.npz", + "video": "tube_drop/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000167/right.json", + "scene_id": "tube_drop/scene_000167", + "seed": 141670000, + "shared_state": "tube_drop/scene_000167/shared_state.npz", + "video": "tube_drop/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000168/left.json", + "scene_id": "tube_drop/scene_000168", + "seed": 141680001, + "shared_state": "tube_drop/scene_000168/shared_state.npz", + "video": "tube_drop/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000168/front.json", + "scene_id": "tube_drop/scene_000168", + "seed": 141680001, + "shared_state": "tube_drop/scene_000168/shared_state.npz", + "video": "tube_drop/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000168/right.json", + "scene_id": "tube_drop/scene_000168", + "seed": 141680001, + "shared_state": "tube_drop/scene_000168/shared_state.npz", + "video": "tube_drop/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000169/left.json", + "scene_id": "tube_drop/scene_000169", + "seed": 141690000, + "shared_state": "tube_drop/scene_000169/shared_state.npz", + "video": "tube_drop/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000169/front.json", + "scene_id": "tube_drop/scene_000169", + "seed": 141690000, + "shared_state": "tube_drop/scene_000169/shared_state.npz", + "video": "tube_drop/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000169/right.json", + "scene_id": "tube_drop/scene_000169", + "seed": 141690000, + "shared_state": "tube_drop/scene_000169/shared_state.npz", + "video": "tube_drop/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000170/left.json", + "scene_id": "tube_drop/scene_000170", + "seed": 141700001, + "shared_state": "tube_drop/scene_000170/shared_state.npz", + "video": "tube_drop/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000170/front.json", + "scene_id": "tube_drop/scene_000170", + "seed": 141700001, + "shared_state": "tube_drop/scene_000170/shared_state.npz", + "video": "tube_drop/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000170/right.json", + "scene_id": "tube_drop/scene_000170", + "seed": 141700001, + "shared_state": "tube_drop/scene_000170/shared_state.npz", + "video": "tube_drop/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000171/left.json", + "scene_id": "tube_drop/scene_000171", + "seed": 141710003, + "shared_state": "tube_drop/scene_000171/shared_state.npz", + "video": "tube_drop/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000171/front.json", + "scene_id": "tube_drop/scene_000171", + "seed": 141710003, + "shared_state": "tube_drop/scene_000171/shared_state.npz", + "video": "tube_drop/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000171/right.json", + "scene_id": "tube_drop/scene_000171", + "seed": 141710003, + "shared_state": "tube_drop/scene_000171/shared_state.npz", + "video": "tube_drop/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000172/left.json", + "scene_id": "tube_drop/scene_000172", + "seed": 141720001, + "shared_state": "tube_drop/scene_000172/shared_state.npz", + "video": "tube_drop/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000172/front.json", + "scene_id": "tube_drop/scene_000172", + "seed": 141720001, + "shared_state": "tube_drop/scene_000172/shared_state.npz", + "video": "tube_drop/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000172/right.json", + "scene_id": "tube_drop/scene_000172", + "seed": 141720001, + "shared_state": "tube_drop/scene_000172/shared_state.npz", + "video": "tube_drop/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000173/left.json", + "scene_id": "tube_drop/scene_000173", + "seed": 141730000, + "shared_state": "tube_drop/scene_000173/shared_state.npz", + "video": "tube_drop/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000173/front.json", + "scene_id": "tube_drop/scene_000173", + "seed": 141730000, + "shared_state": "tube_drop/scene_000173/shared_state.npz", + "video": "tube_drop/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000173/right.json", + "scene_id": "tube_drop/scene_000173", + "seed": 141730000, + "shared_state": "tube_drop/scene_000173/shared_state.npz", + "video": "tube_drop/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000174/left.json", + "scene_id": "tube_drop/scene_000174", + "seed": 141740002, + "shared_state": "tube_drop/scene_000174/shared_state.npz", + "video": "tube_drop/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000174/front.json", + "scene_id": "tube_drop/scene_000174", + "seed": 141740002, + "shared_state": "tube_drop/scene_000174/shared_state.npz", + "video": "tube_drop/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000174/right.json", + "scene_id": "tube_drop/scene_000174", + "seed": 141740002, + "shared_state": "tube_drop/scene_000174/shared_state.npz", + "video": "tube_drop/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000175/left.json", + "scene_id": "tube_drop/scene_000175", + "seed": 141750000, + "shared_state": "tube_drop/scene_000175/shared_state.npz", + "video": "tube_drop/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000175/front.json", + "scene_id": "tube_drop/scene_000175", + "seed": 141750000, + "shared_state": "tube_drop/scene_000175/shared_state.npz", + "video": "tube_drop/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000175/right.json", + "scene_id": "tube_drop/scene_000175", + "seed": 141750000, + "shared_state": "tube_drop/scene_000175/shared_state.npz", + "video": "tube_drop/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000176/left.json", + "scene_id": "tube_drop/scene_000176", + "seed": 141760000, + "shared_state": "tube_drop/scene_000176/shared_state.npz", + "video": "tube_drop/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000176/front.json", + "scene_id": "tube_drop/scene_000176", + "seed": 141760000, + "shared_state": "tube_drop/scene_000176/shared_state.npz", + "video": "tube_drop/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000176/right.json", + "scene_id": "tube_drop/scene_000176", + "seed": 141760000, + "shared_state": "tube_drop/scene_000176/shared_state.npz", + "video": "tube_drop/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000177/left.json", + "scene_id": "tube_drop/scene_000177", + "seed": 141770006, + "shared_state": "tube_drop/scene_000177/shared_state.npz", + "video": "tube_drop/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000177/front.json", + "scene_id": "tube_drop/scene_000177", + "seed": 141770006, + "shared_state": "tube_drop/scene_000177/shared_state.npz", + "video": "tube_drop/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000177/right.json", + "scene_id": "tube_drop/scene_000177", + "seed": 141770006, + "shared_state": "tube_drop/scene_000177/shared_state.npz", + "video": "tube_drop/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000178/left.json", + "scene_id": "tube_drop/scene_000178", + "seed": 141780001, + "shared_state": "tube_drop/scene_000178/shared_state.npz", + "video": "tube_drop/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000178/front.json", + "scene_id": "tube_drop/scene_000178", + "seed": 141780001, + "shared_state": "tube_drop/scene_000178/shared_state.npz", + "video": "tube_drop/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000178/right.json", + "scene_id": "tube_drop/scene_000178", + "seed": 141780001, + "shared_state": "tube_drop/scene_000178/shared_state.npz", + "video": "tube_drop/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000179/left.json", + "scene_id": "tube_drop/scene_000179", + "seed": 141790002, + "shared_state": "tube_drop/scene_000179/shared_state.npz", + "video": "tube_drop/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000179/front.json", + "scene_id": "tube_drop/scene_000179", + "seed": 141790002, + "shared_state": "tube_drop/scene_000179/shared_state.npz", + "video": "tube_drop/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000179/right.json", + "scene_id": "tube_drop/scene_000179", + "seed": 141790002, + "shared_state": "tube_drop/scene_000179/shared_state.npz", + "video": "tube_drop/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000180/left.json", + "scene_id": "tube_drop/scene_000180", + "seed": 141800000, + "shared_state": "tube_drop/scene_000180/shared_state.npz", + "video": "tube_drop/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000180/front.json", + "scene_id": "tube_drop/scene_000180", + "seed": 141800000, + "shared_state": "tube_drop/scene_000180/shared_state.npz", + "video": "tube_drop/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000180/right.json", + "scene_id": "tube_drop/scene_000180", + "seed": 141800000, + "shared_state": "tube_drop/scene_000180/shared_state.npz", + "video": "tube_drop/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000181/left.json", + "scene_id": "tube_drop/scene_000181", + "seed": 141810000, + "shared_state": "tube_drop/scene_000181/shared_state.npz", + "video": "tube_drop/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000181/front.json", + "scene_id": "tube_drop/scene_000181", + "seed": 141810000, + "shared_state": "tube_drop/scene_000181/shared_state.npz", + "video": "tube_drop/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000181/right.json", + "scene_id": "tube_drop/scene_000181", + "seed": 141810000, + "shared_state": "tube_drop/scene_000181/shared_state.npz", + "video": "tube_drop/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000182/left.json", + "scene_id": "tube_drop/scene_000182", + "seed": 141820001, + "shared_state": "tube_drop/scene_000182/shared_state.npz", + "video": "tube_drop/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000182/front.json", + "scene_id": "tube_drop/scene_000182", + "seed": 141820001, + "shared_state": "tube_drop/scene_000182/shared_state.npz", + "video": "tube_drop/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000182/right.json", + "scene_id": "tube_drop/scene_000182", + "seed": 141820001, + "shared_state": "tube_drop/scene_000182/shared_state.npz", + "video": "tube_drop/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000183/left.json", + "scene_id": "tube_drop/scene_000183", + "seed": 141830000, + "shared_state": "tube_drop/scene_000183/shared_state.npz", + "video": "tube_drop/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000183/front.json", + "scene_id": "tube_drop/scene_000183", + "seed": 141830000, + "shared_state": "tube_drop/scene_000183/shared_state.npz", + "video": "tube_drop/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000183/right.json", + "scene_id": "tube_drop/scene_000183", + "seed": 141830000, + "shared_state": "tube_drop/scene_000183/shared_state.npz", + "video": "tube_drop/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000184/left.json", + "scene_id": "tube_drop/scene_000184", + "seed": 141840001, + "shared_state": "tube_drop/scene_000184/shared_state.npz", + "video": "tube_drop/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000184/front.json", + "scene_id": "tube_drop/scene_000184", + "seed": 141840001, + "shared_state": "tube_drop/scene_000184/shared_state.npz", + "video": "tube_drop/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000184/right.json", + "scene_id": "tube_drop/scene_000184", + "seed": 141840001, + "shared_state": "tube_drop/scene_000184/shared_state.npz", + "video": "tube_drop/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000185/left.json", + "scene_id": "tube_drop/scene_000185", + "seed": 141850001, + "shared_state": "tube_drop/scene_000185/shared_state.npz", + "video": "tube_drop/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000185/front.json", + "scene_id": "tube_drop/scene_000185", + "seed": 141850001, + "shared_state": "tube_drop/scene_000185/shared_state.npz", + "video": "tube_drop/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000185/right.json", + "scene_id": "tube_drop/scene_000185", + "seed": 141850001, + "shared_state": "tube_drop/scene_000185/shared_state.npz", + "video": "tube_drop/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000186/left.json", + "scene_id": "tube_drop/scene_000186", + "seed": 141860002, + "shared_state": "tube_drop/scene_000186/shared_state.npz", + "video": "tube_drop/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000186/front.json", + "scene_id": "tube_drop/scene_000186", + "seed": 141860002, + "shared_state": "tube_drop/scene_000186/shared_state.npz", + "video": "tube_drop/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000186/right.json", + "scene_id": "tube_drop/scene_000186", + "seed": 141860002, + "shared_state": "tube_drop/scene_000186/shared_state.npz", + "video": "tube_drop/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000187/left.json", + "scene_id": "tube_drop/scene_000187", + "seed": 141870001, + "shared_state": "tube_drop/scene_000187/shared_state.npz", + "video": "tube_drop/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000187/front.json", + "scene_id": "tube_drop/scene_000187", + "seed": 141870001, + "shared_state": "tube_drop/scene_000187/shared_state.npz", + "video": "tube_drop/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000187/right.json", + "scene_id": "tube_drop/scene_000187", + "seed": 141870001, + "shared_state": "tube_drop/scene_000187/shared_state.npz", + "video": "tube_drop/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000188/left.json", + "scene_id": "tube_drop/scene_000188", + "seed": 141880003, + "shared_state": "tube_drop/scene_000188/shared_state.npz", + "video": "tube_drop/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000188/front.json", + "scene_id": "tube_drop/scene_000188", + "seed": 141880003, + "shared_state": "tube_drop/scene_000188/shared_state.npz", + "video": "tube_drop/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000188/right.json", + "scene_id": "tube_drop/scene_000188", + "seed": 141880003, + "shared_state": "tube_drop/scene_000188/shared_state.npz", + "video": "tube_drop/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000189/left.json", + "scene_id": "tube_drop/scene_000189", + "seed": 141890000, + "shared_state": "tube_drop/scene_000189/shared_state.npz", + "video": "tube_drop/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000189/front.json", + "scene_id": "tube_drop/scene_000189", + "seed": 141890000, + "shared_state": "tube_drop/scene_000189/shared_state.npz", + "video": "tube_drop/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000189/right.json", + "scene_id": "tube_drop/scene_000189", + "seed": 141890000, + "shared_state": "tube_drop/scene_000189/shared_state.npz", + "video": "tube_drop/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000190/left.json", + "scene_id": "tube_drop/scene_000190", + "seed": 141900006, + "shared_state": "tube_drop/scene_000190/shared_state.npz", + "video": "tube_drop/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000190/front.json", + "scene_id": "tube_drop/scene_000190", + "seed": 141900006, + "shared_state": "tube_drop/scene_000190/shared_state.npz", + "video": "tube_drop/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000190/right.json", + "scene_id": "tube_drop/scene_000190", + "seed": 141900006, + "shared_state": "tube_drop/scene_000190/shared_state.npz", + "video": "tube_drop/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000191/left.json", + "scene_id": "tube_drop/scene_000191", + "seed": 141910007, + "shared_state": "tube_drop/scene_000191/shared_state.npz", + "video": "tube_drop/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000191/front.json", + "scene_id": "tube_drop/scene_000191", + "seed": 141910007, + "shared_state": "tube_drop/scene_000191/shared_state.npz", + "video": "tube_drop/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000191/right.json", + "scene_id": "tube_drop/scene_000191", + "seed": 141910007, + "shared_state": "tube_drop/scene_000191/shared_state.npz", + "video": "tube_drop/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000192/left.json", + "scene_id": "tube_drop/scene_000192", + "seed": 141920001, + "shared_state": "tube_drop/scene_000192/shared_state.npz", + "video": "tube_drop/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000192/front.json", + "scene_id": "tube_drop/scene_000192", + "seed": 141920001, + "shared_state": "tube_drop/scene_000192/shared_state.npz", + "video": "tube_drop/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000192/right.json", + "scene_id": "tube_drop/scene_000192", + "seed": 141920001, + "shared_state": "tube_drop/scene_000192/shared_state.npz", + "video": "tube_drop/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000193/left.json", + "scene_id": "tube_drop/scene_000193", + "seed": 141930002, + "shared_state": "tube_drop/scene_000193/shared_state.npz", + "video": "tube_drop/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000193/front.json", + "scene_id": "tube_drop/scene_000193", + "seed": 141930002, + "shared_state": "tube_drop/scene_000193/shared_state.npz", + "video": "tube_drop/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000193/right.json", + "scene_id": "tube_drop/scene_000193", + "seed": 141930002, + "shared_state": "tube_drop/scene_000193/shared_state.npz", + "video": "tube_drop/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000194/left.json", + "scene_id": "tube_drop/scene_000194", + "seed": 141940002, + "shared_state": "tube_drop/scene_000194/shared_state.npz", + "video": "tube_drop/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000194/front.json", + "scene_id": "tube_drop/scene_000194", + "seed": 141940002, + "shared_state": "tube_drop/scene_000194/shared_state.npz", + "video": "tube_drop/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000194/right.json", + "scene_id": "tube_drop/scene_000194", + "seed": 141940002, + "shared_state": "tube_drop/scene_000194/shared_state.npz", + "video": "tube_drop/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000195/left.json", + "scene_id": "tube_drop/scene_000195", + "seed": 141950005, + "shared_state": "tube_drop/scene_000195/shared_state.npz", + "video": "tube_drop/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000195/front.json", + "scene_id": "tube_drop/scene_000195", + "seed": 141950005, + "shared_state": "tube_drop/scene_000195/shared_state.npz", + "video": "tube_drop/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000195/right.json", + "scene_id": "tube_drop/scene_000195", + "seed": 141950005, + "shared_state": "tube_drop/scene_000195/shared_state.npz", + "video": "tube_drop/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000196/left.json", + "scene_id": "tube_drop/scene_000196", + "seed": 141960001, + "shared_state": "tube_drop/scene_000196/shared_state.npz", + "video": "tube_drop/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000196/front.json", + "scene_id": "tube_drop/scene_000196", + "seed": 141960001, + "shared_state": "tube_drop/scene_000196/shared_state.npz", + "video": "tube_drop/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000196/right.json", + "scene_id": "tube_drop/scene_000196", + "seed": 141960001, + "shared_state": "tube_drop/scene_000196/shared_state.npz", + "video": "tube_drop/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000197/left.json", + "scene_id": "tube_drop/scene_000197", + "seed": 141970001, + "shared_state": "tube_drop/scene_000197/shared_state.npz", + "video": "tube_drop/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000197/front.json", + "scene_id": "tube_drop/scene_000197", + "seed": 141970001, + "shared_state": "tube_drop/scene_000197/shared_state.npz", + "video": "tube_drop/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000197/right.json", + "scene_id": "tube_drop/scene_000197", + "seed": 141970001, + "shared_state": "tube_drop/scene_000197/shared_state.npz", + "video": "tube_drop/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000198/left.json", + "scene_id": "tube_drop/scene_000198", + "seed": 141980001, + "shared_state": "tube_drop/scene_000198/shared_state.npz", + "video": "tube_drop/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000198/front.json", + "scene_id": "tube_drop/scene_000198", + "seed": 141980001, + "shared_state": "tube_drop/scene_000198/shared_state.npz", + "video": "tube_drop/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000198/right.json", + "scene_id": "tube_drop/scene_000198", + "seed": 141980001, + "shared_state": "tube_drop/scene_000198/shared_state.npz", + "video": "tube_drop/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000199/left.json", + "scene_id": "tube_drop/scene_000199", + "seed": 141990001, + "shared_state": "tube_drop/scene_000199/shared_state.npz", + "video": "tube_drop/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000199/front.json", + "scene_id": "tube_drop/scene_000199", + "seed": 141990001, + "shared_state": "tube_drop/scene_000199/shared_state.npz", + "video": "tube_drop/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000199/right.json", + "scene_id": "tube_drop/scene_000199", + "seed": 141990001, + "shared_state": "tube_drop/scene_000199/shared_state.npz", + "video": "tube_drop/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000200/left.json", + "scene_id": "tube_drop/scene_000200", + "seed": 142000002, + "shared_state": "tube_drop/scene_000200/shared_state.npz", + "video": "tube_drop/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000200/front.json", + "scene_id": "tube_drop/scene_000200", + "seed": 142000002, + "shared_state": "tube_drop/scene_000200/shared_state.npz", + "video": "tube_drop/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000200/right.json", + "scene_id": "tube_drop/scene_000200", + "seed": 142000002, + "shared_state": "tube_drop/scene_000200/shared_state.npz", + "video": "tube_drop/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000201/left.json", + "scene_id": "tube_drop/scene_000201", + "seed": 142010001, + "shared_state": "tube_drop/scene_000201/shared_state.npz", + "video": "tube_drop/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000201/front.json", + "scene_id": "tube_drop/scene_000201", + "seed": 142010001, + "shared_state": "tube_drop/scene_000201/shared_state.npz", + "video": "tube_drop/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000201/right.json", + "scene_id": "tube_drop/scene_000201", + "seed": 142010001, + "shared_state": "tube_drop/scene_000201/shared_state.npz", + "video": "tube_drop/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000202/left.json", + "scene_id": "tube_drop/scene_000202", + "seed": 142020002, + "shared_state": "tube_drop/scene_000202/shared_state.npz", + "video": "tube_drop/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000202/front.json", + "scene_id": "tube_drop/scene_000202", + "seed": 142020002, + "shared_state": "tube_drop/scene_000202/shared_state.npz", + "video": "tube_drop/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000202/right.json", + "scene_id": "tube_drop/scene_000202", + "seed": 142020002, + "shared_state": "tube_drop/scene_000202/shared_state.npz", + "video": "tube_drop/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000203/left.json", + "scene_id": "tube_drop/scene_000203", + "seed": 142030009, + "shared_state": "tube_drop/scene_000203/shared_state.npz", + "video": "tube_drop/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000203/front.json", + "scene_id": "tube_drop/scene_000203", + "seed": 142030009, + "shared_state": "tube_drop/scene_000203/shared_state.npz", + "video": "tube_drop/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000203/right.json", + "scene_id": "tube_drop/scene_000203", + "seed": 142030009, + "shared_state": "tube_drop/scene_000203/shared_state.npz", + "video": "tube_drop/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000204/left.json", + "scene_id": "tube_drop/scene_000204", + "seed": 142040000, + "shared_state": "tube_drop/scene_000204/shared_state.npz", + "video": "tube_drop/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000204/front.json", + "scene_id": "tube_drop/scene_000204", + "seed": 142040000, + "shared_state": "tube_drop/scene_000204/shared_state.npz", + "video": "tube_drop/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000204/right.json", + "scene_id": "tube_drop/scene_000204", + "seed": 142040000, + "shared_state": "tube_drop/scene_000204/shared_state.npz", + "video": "tube_drop/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000205/left.json", + "scene_id": "tube_drop/scene_000205", + "seed": 142050002, + "shared_state": "tube_drop/scene_000205/shared_state.npz", + "video": "tube_drop/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000205/front.json", + "scene_id": "tube_drop/scene_000205", + "seed": 142050002, + "shared_state": "tube_drop/scene_000205/shared_state.npz", + "video": "tube_drop/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000205/right.json", + "scene_id": "tube_drop/scene_000205", + "seed": 142050002, + "shared_state": "tube_drop/scene_000205/shared_state.npz", + "video": "tube_drop/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000206/left.json", + "scene_id": "tube_drop/scene_000206", + "seed": 142060000, + "shared_state": "tube_drop/scene_000206/shared_state.npz", + "video": "tube_drop/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000206/front.json", + "scene_id": "tube_drop/scene_000206", + "seed": 142060000, + "shared_state": "tube_drop/scene_000206/shared_state.npz", + "video": "tube_drop/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000206/right.json", + "scene_id": "tube_drop/scene_000206", + "seed": 142060000, + "shared_state": "tube_drop/scene_000206/shared_state.npz", + "video": "tube_drop/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000207/left.json", + "scene_id": "tube_drop/scene_000207", + "seed": 142070003, + "shared_state": "tube_drop/scene_000207/shared_state.npz", + "video": "tube_drop/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000207/front.json", + "scene_id": "tube_drop/scene_000207", + "seed": 142070003, + "shared_state": "tube_drop/scene_000207/shared_state.npz", + "video": "tube_drop/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000207/right.json", + "scene_id": "tube_drop/scene_000207", + "seed": 142070003, + "shared_state": "tube_drop/scene_000207/shared_state.npz", + "video": "tube_drop/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000208/left.json", + "scene_id": "tube_drop/scene_000208", + "seed": 142080001, + "shared_state": "tube_drop/scene_000208/shared_state.npz", + "video": "tube_drop/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000208/front.json", + "scene_id": "tube_drop/scene_000208", + "seed": 142080001, + "shared_state": "tube_drop/scene_000208/shared_state.npz", + "video": "tube_drop/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000208/right.json", + "scene_id": "tube_drop/scene_000208", + "seed": 142080001, + "shared_state": "tube_drop/scene_000208/shared_state.npz", + "video": "tube_drop/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000209/left.json", + "scene_id": "tube_drop/scene_000209", + "seed": 142090003, + "shared_state": "tube_drop/scene_000209/shared_state.npz", + "video": "tube_drop/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000209/front.json", + "scene_id": "tube_drop/scene_000209", + "seed": 142090003, + "shared_state": "tube_drop/scene_000209/shared_state.npz", + "video": "tube_drop/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000209/right.json", + "scene_id": "tube_drop/scene_000209", + "seed": 142090003, + "shared_state": "tube_drop/scene_000209/shared_state.npz", + "video": "tube_drop/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000210/left.json", + "scene_id": "tube_drop/scene_000210", + "seed": 142100004, + "shared_state": "tube_drop/scene_000210/shared_state.npz", + "video": "tube_drop/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000210/front.json", + "scene_id": "tube_drop/scene_000210", + "seed": 142100004, + "shared_state": "tube_drop/scene_000210/shared_state.npz", + "video": "tube_drop/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000210/right.json", + "scene_id": "tube_drop/scene_000210", + "seed": 142100004, + "shared_state": "tube_drop/scene_000210/shared_state.npz", + "video": "tube_drop/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000211/left.json", + "scene_id": "tube_drop/scene_000211", + "seed": 142110001, + "shared_state": "tube_drop/scene_000211/shared_state.npz", + "video": "tube_drop/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000211/front.json", + "scene_id": "tube_drop/scene_000211", + "seed": 142110001, + "shared_state": "tube_drop/scene_000211/shared_state.npz", + "video": "tube_drop/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000211/right.json", + "scene_id": "tube_drop/scene_000211", + "seed": 142110001, + "shared_state": "tube_drop/scene_000211/shared_state.npz", + "video": "tube_drop/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000212/left.json", + "scene_id": "tube_drop/scene_000212", + "seed": 142120003, + "shared_state": "tube_drop/scene_000212/shared_state.npz", + "video": "tube_drop/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000212/front.json", + "scene_id": "tube_drop/scene_000212", + "seed": 142120003, + "shared_state": "tube_drop/scene_000212/shared_state.npz", + "video": "tube_drop/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000212/right.json", + "scene_id": "tube_drop/scene_000212", + "seed": 142120003, + "shared_state": "tube_drop/scene_000212/shared_state.npz", + "video": "tube_drop/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000213/left.json", + "scene_id": "tube_drop/scene_000213", + "seed": 142130002, + "shared_state": "tube_drop/scene_000213/shared_state.npz", + "video": "tube_drop/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000213/front.json", + "scene_id": "tube_drop/scene_000213", + "seed": 142130002, + "shared_state": "tube_drop/scene_000213/shared_state.npz", + "video": "tube_drop/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000213/right.json", + "scene_id": "tube_drop/scene_000213", + "seed": 142130002, + "shared_state": "tube_drop/scene_000213/shared_state.npz", + "video": "tube_drop/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000214/left.json", + "scene_id": "tube_drop/scene_000214", + "seed": 142140006, + "shared_state": "tube_drop/scene_000214/shared_state.npz", + "video": "tube_drop/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000214/front.json", + "scene_id": "tube_drop/scene_000214", + "seed": 142140006, + "shared_state": "tube_drop/scene_000214/shared_state.npz", + "video": "tube_drop/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000214/right.json", + "scene_id": "tube_drop/scene_000214", + "seed": 142140006, + "shared_state": "tube_drop/scene_000214/shared_state.npz", + "video": "tube_drop/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000215/left.json", + "scene_id": "tube_drop/scene_000215", + "seed": 142150003, + "shared_state": "tube_drop/scene_000215/shared_state.npz", + "video": "tube_drop/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000215/front.json", + "scene_id": "tube_drop/scene_000215", + "seed": 142150003, + "shared_state": "tube_drop/scene_000215/shared_state.npz", + "video": "tube_drop/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000215/right.json", + "scene_id": "tube_drop/scene_000215", + "seed": 142150003, + "shared_state": "tube_drop/scene_000215/shared_state.npz", + "video": "tube_drop/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000216/left.json", + "scene_id": "tube_drop/scene_000216", + "seed": 142160000, + "shared_state": "tube_drop/scene_000216/shared_state.npz", + "video": "tube_drop/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000216/front.json", + "scene_id": "tube_drop/scene_000216", + "seed": 142160000, + "shared_state": "tube_drop/scene_000216/shared_state.npz", + "video": "tube_drop/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000216/right.json", + "scene_id": "tube_drop/scene_000216", + "seed": 142160000, + "shared_state": "tube_drop/scene_000216/shared_state.npz", + "video": "tube_drop/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000217/left.json", + "scene_id": "tube_drop/scene_000217", + "seed": 142170004, + "shared_state": "tube_drop/scene_000217/shared_state.npz", + "video": "tube_drop/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000217/front.json", + "scene_id": "tube_drop/scene_000217", + "seed": 142170004, + "shared_state": "tube_drop/scene_000217/shared_state.npz", + "video": "tube_drop/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000217/right.json", + "scene_id": "tube_drop/scene_000217", + "seed": 142170004, + "shared_state": "tube_drop/scene_000217/shared_state.npz", + "video": "tube_drop/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000218/left.json", + "scene_id": "tube_drop/scene_000218", + "seed": 142180000, + "shared_state": "tube_drop/scene_000218/shared_state.npz", + "video": "tube_drop/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000218/front.json", + "scene_id": "tube_drop/scene_000218", + "seed": 142180000, + "shared_state": "tube_drop/scene_000218/shared_state.npz", + "video": "tube_drop/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000218/right.json", + "scene_id": "tube_drop/scene_000218", + "seed": 142180000, + "shared_state": "tube_drop/scene_000218/shared_state.npz", + "video": "tube_drop/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000219/left.json", + "scene_id": "tube_drop/scene_000219", + "seed": 142190001, + "shared_state": "tube_drop/scene_000219/shared_state.npz", + "video": "tube_drop/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000219/front.json", + "scene_id": "tube_drop/scene_000219", + "seed": 142190001, + "shared_state": "tube_drop/scene_000219/shared_state.npz", + "video": "tube_drop/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000219/right.json", + "scene_id": "tube_drop/scene_000219", + "seed": 142190001, + "shared_state": "tube_drop/scene_000219/shared_state.npz", + "video": "tube_drop/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000220/left.json", + "scene_id": "tube_drop/scene_000220", + "seed": 142200000, + "shared_state": "tube_drop/scene_000220/shared_state.npz", + "video": "tube_drop/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000220/front.json", + "scene_id": "tube_drop/scene_000220", + "seed": 142200000, + "shared_state": "tube_drop/scene_000220/shared_state.npz", + "video": "tube_drop/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000220/right.json", + "scene_id": "tube_drop/scene_000220", + "seed": 142200000, + "shared_state": "tube_drop/scene_000220/shared_state.npz", + "video": "tube_drop/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000221/left.json", + "scene_id": "tube_drop/scene_000221", + "seed": 142210000, + "shared_state": "tube_drop/scene_000221/shared_state.npz", + "video": "tube_drop/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000221/front.json", + "scene_id": "tube_drop/scene_000221", + "seed": 142210000, + "shared_state": "tube_drop/scene_000221/shared_state.npz", + "video": "tube_drop/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000221/right.json", + "scene_id": "tube_drop/scene_000221", + "seed": 142210000, + "shared_state": "tube_drop/scene_000221/shared_state.npz", + "video": "tube_drop/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000222/left.json", + "scene_id": "tube_drop/scene_000222", + "seed": 142220002, + "shared_state": "tube_drop/scene_000222/shared_state.npz", + "video": "tube_drop/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000222/front.json", + "scene_id": "tube_drop/scene_000222", + "seed": 142220002, + "shared_state": "tube_drop/scene_000222/shared_state.npz", + "video": "tube_drop/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000222/right.json", + "scene_id": "tube_drop/scene_000222", + "seed": 142220002, + "shared_state": "tube_drop/scene_000222/shared_state.npz", + "video": "tube_drop/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000223/left.json", + "scene_id": "tube_drop/scene_000223", + "seed": 142230003, + "shared_state": "tube_drop/scene_000223/shared_state.npz", + "video": "tube_drop/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000223/front.json", + "scene_id": "tube_drop/scene_000223", + "seed": 142230003, + "shared_state": "tube_drop/scene_000223/shared_state.npz", + "video": "tube_drop/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000223/right.json", + "scene_id": "tube_drop/scene_000223", + "seed": 142230003, + "shared_state": "tube_drop/scene_000223/shared_state.npz", + "video": "tube_drop/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000224/left.json", + "scene_id": "tube_drop/scene_000224", + "seed": 142240002, + "shared_state": "tube_drop/scene_000224/shared_state.npz", + "video": "tube_drop/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000224/front.json", + "scene_id": "tube_drop/scene_000224", + "seed": 142240002, + "shared_state": "tube_drop/scene_000224/shared_state.npz", + "video": "tube_drop/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000224/right.json", + "scene_id": "tube_drop/scene_000224", + "seed": 142240002, + "shared_state": "tube_drop/scene_000224/shared_state.npz", + "video": "tube_drop/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000225/left.json", + "scene_id": "tube_drop/scene_000225", + "seed": 142250000, + "shared_state": "tube_drop/scene_000225/shared_state.npz", + "video": "tube_drop/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000225/front.json", + "scene_id": "tube_drop/scene_000225", + "seed": 142250000, + "shared_state": "tube_drop/scene_000225/shared_state.npz", + "video": "tube_drop/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000225/right.json", + "scene_id": "tube_drop/scene_000225", + "seed": 142250000, + "shared_state": "tube_drop/scene_000225/shared_state.npz", + "video": "tube_drop/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000226/left.json", + "scene_id": "tube_drop/scene_000226", + "seed": 142260001, + "shared_state": "tube_drop/scene_000226/shared_state.npz", + "video": "tube_drop/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000226/front.json", + "scene_id": "tube_drop/scene_000226", + "seed": 142260001, + "shared_state": "tube_drop/scene_000226/shared_state.npz", + "video": "tube_drop/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000226/right.json", + "scene_id": "tube_drop/scene_000226", + "seed": 142260001, + "shared_state": "tube_drop/scene_000226/shared_state.npz", + "video": "tube_drop/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000227/left.json", + "scene_id": "tube_drop/scene_000227", + "seed": 142270000, + "shared_state": "tube_drop/scene_000227/shared_state.npz", + "video": "tube_drop/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000227/front.json", + "scene_id": "tube_drop/scene_000227", + "seed": 142270000, + "shared_state": "tube_drop/scene_000227/shared_state.npz", + "video": "tube_drop/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000227/right.json", + "scene_id": "tube_drop/scene_000227", + "seed": 142270000, + "shared_state": "tube_drop/scene_000227/shared_state.npz", + "video": "tube_drop/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000228/left.json", + "scene_id": "tube_drop/scene_000228", + "seed": 142280000, + "shared_state": "tube_drop/scene_000228/shared_state.npz", + "video": "tube_drop/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000228/front.json", + "scene_id": "tube_drop/scene_000228", + "seed": 142280000, + "shared_state": "tube_drop/scene_000228/shared_state.npz", + "video": "tube_drop/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000228/right.json", + "scene_id": "tube_drop/scene_000228", + "seed": 142280000, + "shared_state": "tube_drop/scene_000228/shared_state.npz", + "video": "tube_drop/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000229/left.json", + "scene_id": "tube_drop/scene_000229", + "seed": 142290002, + "shared_state": "tube_drop/scene_000229/shared_state.npz", + "video": "tube_drop/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000229/front.json", + "scene_id": "tube_drop/scene_000229", + "seed": 142290002, + "shared_state": "tube_drop/scene_000229/shared_state.npz", + "video": "tube_drop/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000229/right.json", + "scene_id": "tube_drop/scene_000229", + "seed": 142290002, + "shared_state": "tube_drop/scene_000229/shared_state.npz", + "video": "tube_drop/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000230/left.json", + "scene_id": "tube_drop/scene_000230", + "seed": 142300001, + "shared_state": "tube_drop/scene_000230/shared_state.npz", + "video": "tube_drop/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000230/front.json", + "scene_id": "tube_drop/scene_000230", + "seed": 142300001, + "shared_state": "tube_drop/scene_000230/shared_state.npz", + "video": "tube_drop/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000230/right.json", + "scene_id": "tube_drop/scene_000230", + "seed": 142300001, + "shared_state": "tube_drop/scene_000230/shared_state.npz", + "video": "tube_drop/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000231/left.json", + "scene_id": "tube_drop/scene_000231", + "seed": 142310003, + "shared_state": "tube_drop/scene_000231/shared_state.npz", + "video": "tube_drop/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000231/front.json", + "scene_id": "tube_drop/scene_000231", + "seed": 142310003, + "shared_state": "tube_drop/scene_000231/shared_state.npz", + "video": "tube_drop/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000231/right.json", + "scene_id": "tube_drop/scene_000231", + "seed": 142310003, + "shared_state": "tube_drop/scene_000231/shared_state.npz", + "video": "tube_drop/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000232/left.json", + "scene_id": "tube_drop/scene_000232", + "seed": 142320004, + "shared_state": "tube_drop/scene_000232/shared_state.npz", + "video": "tube_drop/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000232/front.json", + "scene_id": "tube_drop/scene_000232", + "seed": 142320004, + "shared_state": "tube_drop/scene_000232/shared_state.npz", + "video": "tube_drop/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000232/right.json", + "scene_id": "tube_drop/scene_000232", + "seed": 142320004, + "shared_state": "tube_drop/scene_000232/shared_state.npz", + "video": "tube_drop/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000233/left.json", + "scene_id": "tube_drop/scene_000233", + "seed": 142330003, + "shared_state": "tube_drop/scene_000233/shared_state.npz", + "video": "tube_drop/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000233/front.json", + "scene_id": "tube_drop/scene_000233", + "seed": 142330003, + "shared_state": "tube_drop/scene_000233/shared_state.npz", + "video": "tube_drop/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000233/right.json", + "scene_id": "tube_drop/scene_000233", + "seed": 142330003, + "shared_state": "tube_drop/scene_000233/shared_state.npz", + "video": "tube_drop/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000234/left.json", + "scene_id": "tube_drop/scene_000234", + "seed": 142340000, + "shared_state": "tube_drop/scene_000234/shared_state.npz", + "video": "tube_drop/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000234/front.json", + "scene_id": "tube_drop/scene_000234", + "seed": 142340000, + "shared_state": "tube_drop/scene_000234/shared_state.npz", + "video": "tube_drop/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000234/right.json", + "scene_id": "tube_drop/scene_000234", + "seed": 142340000, + "shared_state": "tube_drop/scene_000234/shared_state.npz", + "video": "tube_drop/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000235/left.json", + "scene_id": "tube_drop/scene_000235", + "seed": 142350000, + "shared_state": "tube_drop/scene_000235/shared_state.npz", + "video": "tube_drop/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000235/front.json", + "scene_id": "tube_drop/scene_000235", + "seed": 142350000, + "shared_state": "tube_drop/scene_000235/shared_state.npz", + "video": "tube_drop/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000235/right.json", + "scene_id": "tube_drop/scene_000235", + "seed": 142350000, + "shared_state": "tube_drop/scene_000235/shared_state.npz", + "video": "tube_drop/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000236/left.json", + "scene_id": "tube_drop/scene_000236", + "seed": 142360004, + "shared_state": "tube_drop/scene_000236/shared_state.npz", + "video": "tube_drop/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000236/front.json", + "scene_id": "tube_drop/scene_000236", + "seed": 142360004, + "shared_state": "tube_drop/scene_000236/shared_state.npz", + "video": "tube_drop/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000236/right.json", + "scene_id": "tube_drop/scene_000236", + "seed": 142360004, + "shared_state": "tube_drop/scene_000236/shared_state.npz", + "video": "tube_drop/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000237/left.json", + "scene_id": "tube_drop/scene_000237", + "seed": 142370006, + "shared_state": "tube_drop/scene_000237/shared_state.npz", + "video": "tube_drop/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000237/front.json", + "scene_id": "tube_drop/scene_000237", + "seed": 142370006, + "shared_state": "tube_drop/scene_000237/shared_state.npz", + "video": "tube_drop/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000237/right.json", + "scene_id": "tube_drop/scene_000237", + "seed": 142370006, + "shared_state": "tube_drop/scene_000237/shared_state.npz", + "video": "tube_drop/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000238/left.json", + "scene_id": "tube_drop/scene_000238", + "seed": 142380005, + "shared_state": "tube_drop/scene_000238/shared_state.npz", + "video": "tube_drop/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000238/front.json", + "scene_id": "tube_drop/scene_000238", + "seed": 142380005, + "shared_state": "tube_drop/scene_000238/shared_state.npz", + "video": "tube_drop/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000238/right.json", + "scene_id": "tube_drop/scene_000238", + "seed": 142380005, + "shared_state": "tube_drop/scene_000238/shared_state.npz", + "video": "tube_drop/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000239/left.json", + "scene_id": "tube_drop/scene_000239", + "seed": 142390001, + "shared_state": "tube_drop/scene_000239/shared_state.npz", + "video": "tube_drop/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000239/front.json", + "scene_id": "tube_drop/scene_000239", + "seed": 142390001, + "shared_state": "tube_drop/scene_000239/shared_state.npz", + "video": "tube_drop/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000239/right.json", + "scene_id": "tube_drop/scene_000239", + "seed": 142390001, + "shared_state": "tube_drop/scene_000239/shared_state.npz", + "video": "tube_drop/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000240/left.json", + "scene_id": "tube_drop/scene_000240", + "seed": 142400001, + "shared_state": "tube_drop/scene_000240/shared_state.npz", + "video": "tube_drop/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000240/front.json", + "scene_id": "tube_drop/scene_000240", + "seed": 142400001, + "shared_state": "tube_drop/scene_000240/shared_state.npz", + "video": "tube_drop/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000240/right.json", + "scene_id": "tube_drop/scene_000240", + "seed": 142400001, + "shared_state": "tube_drop/scene_000240/shared_state.npz", + "video": "tube_drop/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000241/left.json", + "scene_id": "tube_drop/scene_000241", + "seed": 142410005, + "shared_state": "tube_drop/scene_000241/shared_state.npz", + "video": "tube_drop/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000241/front.json", + "scene_id": "tube_drop/scene_000241", + "seed": 142410005, + "shared_state": "tube_drop/scene_000241/shared_state.npz", + "video": "tube_drop/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000241/right.json", + "scene_id": "tube_drop/scene_000241", + "seed": 142410005, + "shared_state": "tube_drop/scene_000241/shared_state.npz", + "video": "tube_drop/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000242/left.json", + "scene_id": "tube_drop/scene_000242", + "seed": 142420003, + "shared_state": "tube_drop/scene_000242/shared_state.npz", + "video": "tube_drop/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000242/front.json", + "scene_id": "tube_drop/scene_000242", + "seed": 142420003, + "shared_state": "tube_drop/scene_000242/shared_state.npz", + "video": "tube_drop/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000242/right.json", + "scene_id": "tube_drop/scene_000242", + "seed": 142420003, + "shared_state": "tube_drop/scene_000242/shared_state.npz", + "video": "tube_drop/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000243/left.json", + "scene_id": "tube_drop/scene_000243", + "seed": 142430000, + "shared_state": "tube_drop/scene_000243/shared_state.npz", + "video": "tube_drop/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000243/front.json", + "scene_id": "tube_drop/scene_000243", + "seed": 142430000, + "shared_state": "tube_drop/scene_000243/shared_state.npz", + "video": "tube_drop/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000243/right.json", + "scene_id": "tube_drop/scene_000243", + "seed": 142430000, + "shared_state": "tube_drop/scene_000243/shared_state.npz", + "video": "tube_drop/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000244/left.json", + "scene_id": "tube_drop/scene_000244", + "seed": 142440001, + "shared_state": "tube_drop/scene_000244/shared_state.npz", + "video": "tube_drop/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000244/front.json", + "scene_id": "tube_drop/scene_000244", + "seed": 142440001, + "shared_state": "tube_drop/scene_000244/shared_state.npz", + "video": "tube_drop/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000244/right.json", + "scene_id": "tube_drop/scene_000244", + "seed": 142440001, + "shared_state": "tube_drop/scene_000244/shared_state.npz", + "video": "tube_drop/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000245/left.json", + "scene_id": "tube_drop/scene_000245", + "seed": 142450003, + "shared_state": "tube_drop/scene_000245/shared_state.npz", + "video": "tube_drop/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000245/front.json", + "scene_id": "tube_drop/scene_000245", + "seed": 142450003, + "shared_state": "tube_drop/scene_000245/shared_state.npz", + "video": "tube_drop/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000245/right.json", + "scene_id": "tube_drop/scene_000245", + "seed": 142450003, + "shared_state": "tube_drop/scene_000245/shared_state.npz", + "video": "tube_drop/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000246/left.json", + "scene_id": "tube_drop/scene_000246", + "seed": 142460000, + "shared_state": "tube_drop/scene_000246/shared_state.npz", + "video": "tube_drop/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000246/front.json", + "scene_id": "tube_drop/scene_000246", + "seed": 142460000, + "shared_state": "tube_drop/scene_000246/shared_state.npz", + "video": "tube_drop/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000246/right.json", + "scene_id": "tube_drop/scene_000246", + "seed": 142460000, + "shared_state": "tube_drop/scene_000246/shared_state.npz", + "video": "tube_drop/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000247/left.json", + "scene_id": "tube_drop/scene_000247", + "seed": 142470006, + "shared_state": "tube_drop/scene_000247/shared_state.npz", + "video": "tube_drop/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000247/front.json", + "scene_id": "tube_drop/scene_000247", + "seed": 142470006, + "shared_state": "tube_drop/scene_000247/shared_state.npz", + "video": "tube_drop/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000247/right.json", + "scene_id": "tube_drop/scene_000247", + "seed": 142470006, + "shared_state": "tube_drop/scene_000247/shared_state.npz", + "video": "tube_drop/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000248/left.json", + "scene_id": "tube_drop/scene_000248", + "seed": 142480000, + "shared_state": "tube_drop/scene_000248/shared_state.npz", + "video": "tube_drop/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000248/front.json", + "scene_id": "tube_drop/scene_000248", + "seed": 142480000, + "shared_state": "tube_drop/scene_000248/shared_state.npz", + "video": "tube_drop/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000248/right.json", + "scene_id": "tube_drop/scene_000248", + "seed": 142480000, + "shared_state": "tube_drop/scene_000248/shared_state.npz", + "video": "tube_drop/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000249/left.json", + "scene_id": "tube_drop/scene_000249", + "seed": 142490004, + "shared_state": "tube_drop/scene_000249/shared_state.npz", + "video": "tube_drop/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000249/front.json", + "scene_id": "tube_drop/scene_000249", + "seed": 142490004, + "shared_state": "tube_drop/scene_000249/shared_state.npz", + "video": "tube_drop/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000249/right.json", + "scene_id": "tube_drop/scene_000249", + "seed": 142490004, + "shared_state": "tube_drop/scene_000249/shared_state.npz", + "video": "tube_drop/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000250/left.json", + "scene_id": "tube_drop/scene_000250", + "seed": 142500002, + "shared_state": "tube_drop/scene_000250/shared_state.npz", + "video": "tube_drop/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000250/front.json", + "scene_id": "tube_drop/scene_000250", + "seed": 142500002, + "shared_state": "tube_drop/scene_000250/shared_state.npz", + "video": "tube_drop/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000250/right.json", + "scene_id": "tube_drop/scene_000250", + "seed": 142500002, + "shared_state": "tube_drop/scene_000250/shared_state.npz", + "video": "tube_drop/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000251/left.json", + "scene_id": "tube_drop/scene_000251", + "seed": 142510004, + "shared_state": "tube_drop/scene_000251/shared_state.npz", + "video": "tube_drop/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000251/front.json", + "scene_id": "tube_drop/scene_000251", + "seed": 142510004, + "shared_state": "tube_drop/scene_000251/shared_state.npz", + "video": "tube_drop/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000251/right.json", + "scene_id": "tube_drop/scene_000251", + "seed": 142510004, + "shared_state": "tube_drop/scene_000251/shared_state.npz", + "video": "tube_drop/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000252/left.json", + "scene_id": "tube_drop/scene_000252", + "seed": 142520000, + "shared_state": "tube_drop/scene_000252/shared_state.npz", + "video": "tube_drop/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000252/front.json", + "scene_id": "tube_drop/scene_000252", + "seed": 142520000, + "shared_state": "tube_drop/scene_000252/shared_state.npz", + "video": "tube_drop/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000252/right.json", + "scene_id": "tube_drop/scene_000252", + "seed": 142520000, + "shared_state": "tube_drop/scene_000252/shared_state.npz", + "video": "tube_drop/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000253/left.json", + "scene_id": "tube_drop/scene_000253", + "seed": 142530001, + "shared_state": "tube_drop/scene_000253/shared_state.npz", + "video": "tube_drop/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000253/front.json", + "scene_id": "tube_drop/scene_000253", + "seed": 142530001, + "shared_state": "tube_drop/scene_000253/shared_state.npz", + "video": "tube_drop/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000253/right.json", + "scene_id": "tube_drop/scene_000253", + "seed": 142530001, + "shared_state": "tube_drop/scene_000253/shared_state.npz", + "video": "tube_drop/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000254/left.json", + "scene_id": "tube_drop/scene_000254", + "seed": 142540000, + "shared_state": "tube_drop/scene_000254/shared_state.npz", + "video": "tube_drop/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000254/front.json", + "scene_id": "tube_drop/scene_000254", + "seed": 142540000, + "shared_state": "tube_drop/scene_000254/shared_state.npz", + "video": "tube_drop/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000254/right.json", + "scene_id": "tube_drop/scene_000254", + "seed": 142540000, + "shared_state": "tube_drop/scene_000254/shared_state.npz", + "video": "tube_drop/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000255/left.json", + "scene_id": "tube_drop/scene_000255", + "seed": 142550002, + "shared_state": "tube_drop/scene_000255/shared_state.npz", + "video": "tube_drop/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000255/front.json", + "scene_id": "tube_drop/scene_000255", + "seed": 142550002, + "shared_state": "tube_drop/scene_000255/shared_state.npz", + "video": "tube_drop/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000255/right.json", + "scene_id": "tube_drop/scene_000255", + "seed": 142550002, + "shared_state": "tube_drop/scene_000255/shared_state.npz", + "video": "tube_drop/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000256/left.json", + "scene_id": "tube_drop/scene_000256", + "seed": 142560003, + "shared_state": "tube_drop/scene_000256/shared_state.npz", + "video": "tube_drop/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000256/front.json", + "scene_id": "tube_drop/scene_000256", + "seed": 142560003, + "shared_state": "tube_drop/scene_000256/shared_state.npz", + "video": "tube_drop/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000256/right.json", + "scene_id": "tube_drop/scene_000256", + "seed": 142560003, + "shared_state": "tube_drop/scene_000256/shared_state.npz", + "video": "tube_drop/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000257/left.json", + "scene_id": "tube_drop/scene_000257", + "seed": 142570001, + "shared_state": "tube_drop/scene_000257/shared_state.npz", + "video": "tube_drop/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000257/front.json", + "scene_id": "tube_drop/scene_000257", + "seed": 142570001, + "shared_state": "tube_drop/scene_000257/shared_state.npz", + "video": "tube_drop/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000257/right.json", + "scene_id": "tube_drop/scene_000257", + "seed": 142570001, + "shared_state": "tube_drop/scene_000257/shared_state.npz", + "video": "tube_drop/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000258/left.json", + "scene_id": "tube_drop/scene_000258", + "seed": 142580004, + "shared_state": "tube_drop/scene_000258/shared_state.npz", + "video": "tube_drop/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000258/front.json", + "scene_id": "tube_drop/scene_000258", + "seed": 142580004, + "shared_state": "tube_drop/scene_000258/shared_state.npz", + "video": "tube_drop/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000258/right.json", + "scene_id": "tube_drop/scene_000258", + "seed": 142580004, + "shared_state": "tube_drop/scene_000258/shared_state.npz", + "video": "tube_drop/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000259/left.json", + "scene_id": "tube_drop/scene_000259", + "seed": 142590000, + "shared_state": "tube_drop/scene_000259/shared_state.npz", + "video": "tube_drop/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000259/front.json", + "scene_id": "tube_drop/scene_000259", + "seed": 142590000, + "shared_state": "tube_drop/scene_000259/shared_state.npz", + "video": "tube_drop/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000259/right.json", + "scene_id": "tube_drop/scene_000259", + "seed": 142590000, + "shared_state": "tube_drop/scene_000259/shared_state.npz", + "video": "tube_drop/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000260/left.json", + "scene_id": "tube_drop/scene_000260", + "seed": 142600007, + "shared_state": "tube_drop/scene_000260/shared_state.npz", + "video": "tube_drop/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000260/front.json", + "scene_id": "tube_drop/scene_000260", + "seed": 142600007, + "shared_state": "tube_drop/scene_000260/shared_state.npz", + "video": "tube_drop/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000260/right.json", + "scene_id": "tube_drop/scene_000260", + "seed": 142600007, + "shared_state": "tube_drop/scene_000260/shared_state.npz", + "video": "tube_drop/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000261/left.json", + "scene_id": "tube_drop/scene_000261", + "seed": 142610002, + "shared_state": "tube_drop/scene_000261/shared_state.npz", + "video": "tube_drop/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000261/front.json", + "scene_id": "tube_drop/scene_000261", + "seed": 142610002, + "shared_state": "tube_drop/scene_000261/shared_state.npz", + "video": "tube_drop/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000261/right.json", + "scene_id": "tube_drop/scene_000261", + "seed": 142610002, + "shared_state": "tube_drop/scene_000261/shared_state.npz", + "video": "tube_drop/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000262/left.json", + "scene_id": "tube_drop/scene_000262", + "seed": 142620003, + "shared_state": "tube_drop/scene_000262/shared_state.npz", + "video": "tube_drop/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000262/front.json", + "scene_id": "tube_drop/scene_000262", + "seed": 142620003, + "shared_state": "tube_drop/scene_000262/shared_state.npz", + "video": "tube_drop/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000262/right.json", + "scene_id": "tube_drop/scene_000262", + "seed": 142620003, + "shared_state": "tube_drop/scene_000262/shared_state.npz", + "video": "tube_drop/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000263/left.json", + "scene_id": "tube_drop/scene_000263", + "seed": 142630013, + "shared_state": "tube_drop/scene_000263/shared_state.npz", + "video": "tube_drop/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000263/front.json", + "scene_id": "tube_drop/scene_000263", + "seed": 142630013, + "shared_state": "tube_drop/scene_000263/shared_state.npz", + "video": "tube_drop/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000263/right.json", + "scene_id": "tube_drop/scene_000263", + "seed": 142630013, + "shared_state": "tube_drop/scene_000263/shared_state.npz", + "video": "tube_drop/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000264/left.json", + "scene_id": "tube_drop/scene_000264", + "seed": 142640000, + "shared_state": "tube_drop/scene_000264/shared_state.npz", + "video": "tube_drop/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000264/front.json", + "scene_id": "tube_drop/scene_000264", + "seed": 142640000, + "shared_state": "tube_drop/scene_000264/shared_state.npz", + "video": "tube_drop/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000264/right.json", + "scene_id": "tube_drop/scene_000264", + "seed": 142640000, + "shared_state": "tube_drop/scene_000264/shared_state.npz", + "video": "tube_drop/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000265/left.json", + "scene_id": "tube_drop/scene_000265", + "seed": 142650001, + "shared_state": "tube_drop/scene_000265/shared_state.npz", + "video": "tube_drop/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000265/front.json", + "scene_id": "tube_drop/scene_000265", + "seed": 142650001, + "shared_state": "tube_drop/scene_000265/shared_state.npz", + "video": "tube_drop/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000265/right.json", + "scene_id": "tube_drop/scene_000265", + "seed": 142650001, + "shared_state": "tube_drop/scene_000265/shared_state.npz", + "video": "tube_drop/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000266/left.json", + "scene_id": "tube_drop/scene_000266", + "seed": 142660001, + "shared_state": "tube_drop/scene_000266/shared_state.npz", + "video": "tube_drop/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000266/front.json", + "scene_id": "tube_drop/scene_000266", + "seed": 142660001, + "shared_state": "tube_drop/scene_000266/shared_state.npz", + "video": "tube_drop/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000266/right.json", + "scene_id": "tube_drop/scene_000266", + "seed": 142660001, + "shared_state": "tube_drop/scene_000266/shared_state.npz", + "video": "tube_drop/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000267/left.json", + "scene_id": "tube_drop/scene_000267", + "seed": 142670000, + "shared_state": "tube_drop/scene_000267/shared_state.npz", + "video": "tube_drop/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000267/front.json", + "scene_id": "tube_drop/scene_000267", + "seed": 142670000, + "shared_state": "tube_drop/scene_000267/shared_state.npz", + "video": "tube_drop/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000267/right.json", + "scene_id": "tube_drop/scene_000267", + "seed": 142670000, + "shared_state": "tube_drop/scene_000267/shared_state.npz", + "video": "tube_drop/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000268/left.json", + "scene_id": "tube_drop/scene_000268", + "seed": 142680000, + "shared_state": "tube_drop/scene_000268/shared_state.npz", + "video": "tube_drop/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000268/front.json", + "scene_id": "tube_drop/scene_000268", + "seed": 142680000, + "shared_state": "tube_drop/scene_000268/shared_state.npz", + "video": "tube_drop/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000268/right.json", + "scene_id": "tube_drop/scene_000268", + "seed": 142680000, + "shared_state": "tube_drop/scene_000268/shared_state.npz", + "video": "tube_drop/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000269/left.json", + "scene_id": "tube_drop/scene_000269", + "seed": 142690000, + "shared_state": "tube_drop/scene_000269/shared_state.npz", + "video": "tube_drop/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000269/front.json", + "scene_id": "tube_drop/scene_000269", + "seed": 142690000, + "shared_state": "tube_drop/scene_000269/shared_state.npz", + "video": "tube_drop/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000269/right.json", + "scene_id": "tube_drop/scene_000269", + "seed": 142690000, + "shared_state": "tube_drop/scene_000269/shared_state.npz", + "video": "tube_drop/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000270/left.json", + "scene_id": "tube_drop/scene_000270", + "seed": 142700001, + "shared_state": "tube_drop/scene_000270/shared_state.npz", + "video": "tube_drop/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000270/front.json", + "scene_id": "tube_drop/scene_000270", + "seed": 142700001, + "shared_state": "tube_drop/scene_000270/shared_state.npz", + "video": "tube_drop/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000270/right.json", + "scene_id": "tube_drop/scene_000270", + "seed": 142700001, + "shared_state": "tube_drop/scene_000270/shared_state.npz", + "video": "tube_drop/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000271/left.json", + "scene_id": "tube_drop/scene_000271", + "seed": 142710002, + "shared_state": "tube_drop/scene_000271/shared_state.npz", + "video": "tube_drop/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000271/front.json", + "scene_id": "tube_drop/scene_000271", + "seed": 142710002, + "shared_state": "tube_drop/scene_000271/shared_state.npz", + "video": "tube_drop/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000271/right.json", + "scene_id": "tube_drop/scene_000271", + "seed": 142710002, + "shared_state": "tube_drop/scene_000271/shared_state.npz", + "video": "tube_drop/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000272/left.json", + "scene_id": "tube_drop/scene_000272", + "seed": 142720001, + "shared_state": "tube_drop/scene_000272/shared_state.npz", + "video": "tube_drop/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000272/front.json", + "scene_id": "tube_drop/scene_000272", + "seed": 142720001, + "shared_state": "tube_drop/scene_000272/shared_state.npz", + "video": "tube_drop/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000272/right.json", + "scene_id": "tube_drop/scene_000272", + "seed": 142720001, + "shared_state": "tube_drop/scene_000272/shared_state.npz", + "video": "tube_drop/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000273/left.json", + "scene_id": "tube_drop/scene_000273", + "seed": 142730002, + "shared_state": "tube_drop/scene_000273/shared_state.npz", + "video": "tube_drop/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000273/front.json", + "scene_id": "tube_drop/scene_000273", + "seed": 142730002, + "shared_state": "tube_drop/scene_000273/shared_state.npz", + "video": "tube_drop/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000273/right.json", + "scene_id": "tube_drop/scene_000273", + "seed": 142730002, + "shared_state": "tube_drop/scene_000273/shared_state.npz", + "video": "tube_drop/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000274/left.json", + "scene_id": "tube_drop/scene_000274", + "seed": 142740000, + "shared_state": "tube_drop/scene_000274/shared_state.npz", + "video": "tube_drop/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000274/front.json", + "scene_id": "tube_drop/scene_000274", + "seed": 142740000, + "shared_state": "tube_drop/scene_000274/shared_state.npz", + "video": "tube_drop/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000274/right.json", + "scene_id": "tube_drop/scene_000274", + "seed": 142740000, + "shared_state": "tube_drop/scene_000274/shared_state.npz", + "video": "tube_drop/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000275/left.json", + "scene_id": "tube_drop/scene_000275", + "seed": 142750000, + "shared_state": "tube_drop/scene_000275/shared_state.npz", + "video": "tube_drop/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000275/front.json", + "scene_id": "tube_drop/scene_000275", + "seed": 142750000, + "shared_state": "tube_drop/scene_000275/shared_state.npz", + "video": "tube_drop/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000275/right.json", + "scene_id": "tube_drop/scene_000275", + "seed": 142750000, + "shared_state": "tube_drop/scene_000275/shared_state.npz", + "video": "tube_drop/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000276/left.json", + "scene_id": "tube_drop/scene_000276", + "seed": 142760000, + "shared_state": "tube_drop/scene_000276/shared_state.npz", + "video": "tube_drop/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000276/front.json", + "scene_id": "tube_drop/scene_000276", + "seed": 142760000, + "shared_state": "tube_drop/scene_000276/shared_state.npz", + "video": "tube_drop/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000276/right.json", + "scene_id": "tube_drop/scene_000276", + "seed": 142760000, + "shared_state": "tube_drop/scene_000276/shared_state.npz", + "video": "tube_drop/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000277/left.json", + "scene_id": "tube_drop/scene_000277", + "seed": 142770002, + "shared_state": "tube_drop/scene_000277/shared_state.npz", + "video": "tube_drop/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000277/front.json", + "scene_id": "tube_drop/scene_000277", + "seed": 142770002, + "shared_state": "tube_drop/scene_000277/shared_state.npz", + "video": "tube_drop/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000277/right.json", + "scene_id": "tube_drop/scene_000277", + "seed": 142770002, + "shared_state": "tube_drop/scene_000277/shared_state.npz", + "video": "tube_drop/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000278/left.json", + "scene_id": "tube_drop/scene_000278", + "seed": 142780005, + "shared_state": "tube_drop/scene_000278/shared_state.npz", + "video": "tube_drop/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000278/front.json", + "scene_id": "tube_drop/scene_000278", + "seed": 142780005, + "shared_state": "tube_drop/scene_000278/shared_state.npz", + "video": "tube_drop/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000278/right.json", + "scene_id": "tube_drop/scene_000278", + "seed": 142780005, + "shared_state": "tube_drop/scene_000278/shared_state.npz", + "video": "tube_drop/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000279/left.json", + "scene_id": "tube_drop/scene_000279", + "seed": 142790003, + "shared_state": "tube_drop/scene_000279/shared_state.npz", + "video": "tube_drop/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000279/front.json", + "scene_id": "tube_drop/scene_000279", + "seed": 142790003, + "shared_state": "tube_drop/scene_000279/shared_state.npz", + "video": "tube_drop/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000279/right.json", + "scene_id": "tube_drop/scene_000279", + "seed": 142790003, + "shared_state": "tube_drop/scene_000279/shared_state.npz", + "video": "tube_drop/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000280/left.json", + "scene_id": "tube_drop/scene_000280", + "seed": 142800010, + "shared_state": "tube_drop/scene_000280/shared_state.npz", + "video": "tube_drop/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000280/front.json", + "scene_id": "tube_drop/scene_000280", + "seed": 142800010, + "shared_state": "tube_drop/scene_000280/shared_state.npz", + "video": "tube_drop/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000280/right.json", + "scene_id": "tube_drop/scene_000280", + "seed": 142800010, + "shared_state": "tube_drop/scene_000280/shared_state.npz", + "video": "tube_drop/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000281/left.json", + "scene_id": "tube_drop/scene_000281", + "seed": 142810003, + "shared_state": "tube_drop/scene_000281/shared_state.npz", + "video": "tube_drop/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000281/front.json", + "scene_id": "tube_drop/scene_000281", + "seed": 142810003, + "shared_state": "tube_drop/scene_000281/shared_state.npz", + "video": "tube_drop/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000281/right.json", + "scene_id": "tube_drop/scene_000281", + "seed": 142810003, + "shared_state": "tube_drop/scene_000281/shared_state.npz", + "video": "tube_drop/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000282/left.json", + "scene_id": "tube_drop/scene_000282", + "seed": 142820002, + "shared_state": "tube_drop/scene_000282/shared_state.npz", + "video": "tube_drop/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000282/front.json", + "scene_id": "tube_drop/scene_000282", + "seed": 142820002, + "shared_state": "tube_drop/scene_000282/shared_state.npz", + "video": "tube_drop/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000282/right.json", + "scene_id": "tube_drop/scene_000282", + "seed": 142820002, + "shared_state": "tube_drop/scene_000282/shared_state.npz", + "video": "tube_drop/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000283/left.json", + "scene_id": "tube_drop/scene_000283", + "seed": 142830001, + "shared_state": "tube_drop/scene_000283/shared_state.npz", + "video": "tube_drop/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000283/front.json", + "scene_id": "tube_drop/scene_000283", + "seed": 142830001, + "shared_state": "tube_drop/scene_000283/shared_state.npz", + "video": "tube_drop/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000283/right.json", + "scene_id": "tube_drop/scene_000283", + "seed": 142830001, + "shared_state": "tube_drop/scene_000283/shared_state.npz", + "video": "tube_drop/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000284/left.json", + "scene_id": "tube_drop/scene_000284", + "seed": 142840002, + "shared_state": "tube_drop/scene_000284/shared_state.npz", + "video": "tube_drop/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000284/front.json", + "scene_id": "tube_drop/scene_000284", + "seed": 142840002, + "shared_state": "tube_drop/scene_000284/shared_state.npz", + "video": "tube_drop/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000284/right.json", + "scene_id": "tube_drop/scene_000284", + "seed": 142840002, + "shared_state": "tube_drop/scene_000284/shared_state.npz", + "video": "tube_drop/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000285/left.json", + "scene_id": "tube_drop/scene_000285", + "seed": 142850015, + "shared_state": "tube_drop/scene_000285/shared_state.npz", + "video": "tube_drop/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000285/front.json", + "scene_id": "tube_drop/scene_000285", + "seed": 142850015, + "shared_state": "tube_drop/scene_000285/shared_state.npz", + "video": "tube_drop/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000285/right.json", + "scene_id": "tube_drop/scene_000285", + "seed": 142850015, + "shared_state": "tube_drop/scene_000285/shared_state.npz", + "video": "tube_drop/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000286/left.json", + "scene_id": "tube_drop/scene_000286", + "seed": 142860002, + "shared_state": "tube_drop/scene_000286/shared_state.npz", + "video": "tube_drop/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000286/front.json", + "scene_id": "tube_drop/scene_000286", + "seed": 142860002, + "shared_state": "tube_drop/scene_000286/shared_state.npz", + "video": "tube_drop/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000286/right.json", + "scene_id": "tube_drop/scene_000286", + "seed": 142860002, + "shared_state": "tube_drop/scene_000286/shared_state.npz", + "video": "tube_drop/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000287/left.json", + "scene_id": "tube_drop/scene_000287", + "seed": 142870000, + "shared_state": "tube_drop/scene_000287/shared_state.npz", + "video": "tube_drop/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000287/front.json", + "scene_id": "tube_drop/scene_000287", + "seed": 142870000, + "shared_state": "tube_drop/scene_000287/shared_state.npz", + "video": "tube_drop/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000287/right.json", + "scene_id": "tube_drop/scene_000287", + "seed": 142870000, + "shared_state": "tube_drop/scene_000287/shared_state.npz", + "video": "tube_drop/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000288/left.json", + "scene_id": "tube_drop/scene_000288", + "seed": 142880000, + "shared_state": "tube_drop/scene_000288/shared_state.npz", + "video": "tube_drop/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000288/front.json", + "scene_id": "tube_drop/scene_000288", + "seed": 142880000, + "shared_state": "tube_drop/scene_000288/shared_state.npz", + "video": "tube_drop/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000288/right.json", + "scene_id": "tube_drop/scene_000288", + "seed": 142880000, + "shared_state": "tube_drop/scene_000288/shared_state.npz", + "video": "tube_drop/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000289/left.json", + "scene_id": "tube_drop/scene_000289", + "seed": 142890000, + "shared_state": "tube_drop/scene_000289/shared_state.npz", + "video": "tube_drop/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000289/front.json", + "scene_id": "tube_drop/scene_000289", + "seed": 142890000, + "shared_state": "tube_drop/scene_000289/shared_state.npz", + "video": "tube_drop/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000289/right.json", + "scene_id": "tube_drop/scene_000289", + "seed": 142890000, + "shared_state": "tube_drop/scene_000289/shared_state.npz", + "video": "tube_drop/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000290/left.json", + "scene_id": "tube_drop/scene_000290", + "seed": 142900000, + "shared_state": "tube_drop/scene_000290/shared_state.npz", + "video": "tube_drop/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000290/front.json", + "scene_id": "tube_drop/scene_000290", + "seed": 142900000, + "shared_state": "tube_drop/scene_000290/shared_state.npz", + "video": "tube_drop/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000290/right.json", + "scene_id": "tube_drop/scene_000290", + "seed": 142900000, + "shared_state": "tube_drop/scene_000290/shared_state.npz", + "video": "tube_drop/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000291/left.json", + "scene_id": "tube_drop/scene_000291", + "seed": 142910000, + "shared_state": "tube_drop/scene_000291/shared_state.npz", + "video": "tube_drop/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000291/front.json", + "scene_id": "tube_drop/scene_000291", + "seed": 142910000, + "shared_state": "tube_drop/scene_000291/shared_state.npz", + "video": "tube_drop/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000291/right.json", + "scene_id": "tube_drop/scene_000291", + "seed": 142910000, + "shared_state": "tube_drop/scene_000291/shared_state.npz", + "video": "tube_drop/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000292/left.json", + "scene_id": "tube_drop/scene_000292", + "seed": 142920002, + "shared_state": "tube_drop/scene_000292/shared_state.npz", + "video": "tube_drop/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000292/front.json", + "scene_id": "tube_drop/scene_000292", + "seed": 142920002, + "shared_state": "tube_drop/scene_000292/shared_state.npz", + "video": "tube_drop/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000292/right.json", + "scene_id": "tube_drop/scene_000292", + "seed": 142920002, + "shared_state": "tube_drop/scene_000292/shared_state.npz", + "video": "tube_drop/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000293/left.json", + "scene_id": "tube_drop/scene_000293", + "seed": 142930003, + "shared_state": "tube_drop/scene_000293/shared_state.npz", + "video": "tube_drop/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000293/front.json", + "scene_id": "tube_drop/scene_000293", + "seed": 142930003, + "shared_state": "tube_drop/scene_000293/shared_state.npz", + "video": "tube_drop/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000293/right.json", + "scene_id": "tube_drop/scene_000293", + "seed": 142930003, + "shared_state": "tube_drop/scene_000293/shared_state.npz", + "video": "tube_drop/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000294/left.json", + "scene_id": "tube_drop/scene_000294", + "seed": 142940001, + "shared_state": "tube_drop/scene_000294/shared_state.npz", + "video": "tube_drop/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000294/front.json", + "scene_id": "tube_drop/scene_000294", + "seed": 142940001, + "shared_state": "tube_drop/scene_000294/shared_state.npz", + "video": "tube_drop/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000294/right.json", + "scene_id": "tube_drop/scene_000294", + "seed": 142940001, + "shared_state": "tube_drop/scene_000294/shared_state.npz", + "video": "tube_drop/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000295/left.json", + "scene_id": "tube_drop/scene_000295", + "seed": 142950008, + "shared_state": "tube_drop/scene_000295/shared_state.npz", + "video": "tube_drop/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000295/front.json", + "scene_id": "tube_drop/scene_000295", + "seed": 142950008, + "shared_state": "tube_drop/scene_000295/shared_state.npz", + "video": "tube_drop/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000295/right.json", + "scene_id": "tube_drop/scene_000295", + "seed": 142950008, + "shared_state": "tube_drop/scene_000295/shared_state.npz", + "video": "tube_drop/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000296/left.json", + "scene_id": "tube_drop/scene_000296", + "seed": 142960001, + "shared_state": "tube_drop/scene_000296/shared_state.npz", + "video": "tube_drop/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000296/front.json", + "scene_id": "tube_drop/scene_000296", + "seed": 142960001, + "shared_state": "tube_drop/scene_000296/shared_state.npz", + "video": "tube_drop/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000296/right.json", + "scene_id": "tube_drop/scene_000296", + "seed": 142960001, + "shared_state": "tube_drop/scene_000296/shared_state.npz", + "video": "tube_drop/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000297/left.json", + "scene_id": "tube_drop/scene_000297", + "seed": 142970000, + "shared_state": "tube_drop/scene_000297/shared_state.npz", + "video": "tube_drop/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000297/front.json", + "scene_id": "tube_drop/scene_000297", + "seed": 142970000, + "shared_state": "tube_drop/scene_000297/shared_state.npz", + "video": "tube_drop/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000297/right.json", + "scene_id": "tube_drop/scene_000297", + "seed": 142970000, + "shared_state": "tube_drop/scene_000297/shared_state.npz", + "video": "tube_drop/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000298/left.json", + "scene_id": "tube_drop/scene_000298", + "seed": 142980000, + "shared_state": "tube_drop/scene_000298/shared_state.npz", + "video": "tube_drop/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000298/front.json", + "scene_id": "tube_drop/scene_000298", + "seed": 142980000, + "shared_state": "tube_drop/scene_000298/shared_state.npz", + "video": "tube_drop/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000298/right.json", + "scene_id": "tube_drop/scene_000298", + "seed": 142980000, + "shared_state": "tube_drop/scene_000298/shared_state.npz", + "video": "tube_drop/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000299/left.json", + "scene_id": "tube_drop/scene_000299", + "seed": 142990002, + "shared_state": "tube_drop/scene_000299/shared_state.npz", + "video": "tube_drop/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000299/front.json", + "scene_id": "tube_drop/scene_000299", + "seed": 142990002, + "shared_state": "tube_drop/scene_000299/shared_state.npz", + "video": "tube_drop/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "tube_drop", + "inherited": false, + "metadata": "tube_drop/scene_000299/right.json", + "scene_id": "tube_drop/scene_000299", + "seed": 142990002, + "shared_state": "tube_drop/scene_000299/shared_state.npz", + "video": "tube_drop/scene_000299/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000000/left.json", + "scene_id": "tube_empty/scene_000000", + "seed": 22260909, + "shared_state": "tube_empty/scene_000000/shared_state.npz", + "video": "tube_empty/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000000/front.json", + "scene_id": "tube_empty/scene_000000", + "seed": 22260909, + "shared_state": "tube_empty/scene_000000/shared_state.npz", + "video": "tube_empty/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000000/right.json", + "scene_id": "tube_empty/scene_000000", + "seed": 22260909, + "shared_state": "tube_empty/scene_000000/shared_state.npz", + "video": "tube_empty/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000001/left.json", + "scene_id": "tube_empty/scene_000001", + "seed": 22270909, + "shared_state": "tube_empty/scene_000001/shared_state.npz", + "video": "tube_empty/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000001/front.json", + "scene_id": "tube_empty/scene_000001", + "seed": 22270909, + "shared_state": "tube_empty/scene_000001/shared_state.npz", + "video": "tube_empty/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000001/right.json", + "scene_id": "tube_empty/scene_000001", + "seed": 22270909, + "shared_state": "tube_empty/scene_000001/shared_state.npz", + "video": "tube_empty/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000002/left.json", + "scene_id": "tube_empty/scene_000002", + "seed": 22280910, + "shared_state": "tube_empty/scene_000002/shared_state.npz", + "video": "tube_empty/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000002/front.json", + "scene_id": "tube_empty/scene_000002", + "seed": 22280910, + "shared_state": "tube_empty/scene_000002/shared_state.npz", + "video": "tube_empty/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000002/right.json", + "scene_id": "tube_empty/scene_000002", + "seed": 22280910, + "shared_state": "tube_empty/scene_000002/shared_state.npz", + "video": "tube_empty/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000003/left.json", + "scene_id": "tube_empty/scene_000003", + "seed": 22290909, + "shared_state": "tube_empty/scene_000003/shared_state.npz", + "video": "tube_empty/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000003/front.json", + "scene_id": "tube_empty/scene_000003", + "seed": 22290909, + "shared_state": "tube_empty/scene_000003/shared_state.npz", + "video": "tube_empty/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000003/right.json", + "scene_id": "tube_empty/scene_000003", + "seed": 22290909, + "shared_state": "tube_empty/scene_000003/shared_state.npz", + "video": "tube_empty/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000004/left.json", + "scene_id": "tube_empty/scene_000004", + "seed": 22300909, + "shared_state": "tube_empty/scene_000004/shared_state.npz", + "video": "tube_empty/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000004/front.json", + "scene_id": "tube_empty/scene_000004", + "seed": 22300909, + "shared_state": "tube_empty/scene_000004/shared_state.npz", + "video": "tube_empty/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000004/right.json", + "scene_id": "tube_empty/scene_000004", + "seed": 22300909, + "shared_state": "tube_empty/scene_000004/shared_state.npz", + "video": "tube_empty/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000005/left.json", + "scene_id": "tube_empty/scene_000005", + "seed": 22310909, + "shared_state": "tube_empty/scene_000005/shared_state.npz", + "video": "tube_empty/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000005/front.json", + "scene_id": "tube_empty/scene_000005", + "seed": 22310909, + "shared_state": "tube_empty/scene_000005/shared_state.npz", + "video": "tube_empty/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000005/right.json", + "scene_id": "tube_empty/scene_000005", + "seed": 22310909, + "shared_state": "tube_empty/scene_000005/shared_state.npz", + "video": "tube_empty/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000006/left.json", + "scene_id": "tube_empty/scene_000006", + "seed": 22320909, + "shared_state": "tube_empty/scene_000006/shared_state.npz", + "video": "tube_empty/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000006/front.json", + "scene_id": "tube_empty/scene_000006", + "seed": 22320909, + "shared_state": "tube_empty/scene_000006/shared_state.npz", + "video": "tube_empty/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000006/right.json", + "scene_id": "tube_empty/scene_000006", + "seed": 22320909, + "shared_state": "tube_empty/scene_000006/shared_state.npz", + "video": "tube_empty/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000007/left.json", + "scene_id": "tube_empty/scene_000007", + "seed": 22330909, + "shared_state": "tube_empty/scene_000007/shared_state.npz", + "video": "tube_empty/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000007/front.json", + "scene_id": "tube_empty/scene_000007", + "seed": 22330909, + "shared_state": "tube_empty/scene_000007/shared_state.npz", + "video": "tube_empty/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000007/right.json", + "scene_id": "tube_empty/scene_000007", + "seed": 22330909, + "shared_state": "tube_empty/scene_000007/shared_state.npz", + "video": "tube_empty/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000008/left.json", + "scene_id": "tube_empty/scene_000008", + "seed": 22340910, + "shared_state": "tube_empty/scene_000008/shared_state.npz", + "video": "tube_empty/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000008/front.json", + "scene_id": "tube_empty/scene_000008", + "seed": 22340910, + "shared_state": "tube_empty/scene_000008/shared_state.npz", + "video": "tube_empty/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000008/right.json", + "scene_id": "tube_empty/scene_000008", + "seed": 22340910, + "shared_state": "tube_empty/scene_000008/shared_state.npz", + "video": "tube_empty/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000009/left.json", + "scene_id": "tube_empty/scene_000009", + "seed": 22350912, + "shared_state": "tube_empty/scene_000009/shared_state.npz", + "video": "tube_empty/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000009/front.json", + "scene_id": "tube_empty/scene_000009", + "seed": 22350912, + "shared_state": "tube_empty/scene_000009/shared_state.npz", + "video": "tube_empty/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000009/right.json", + "scene_id": "tube_empty/scene_000009", + "seed": 22350912, + "shared_state": "tube_empty/scene_000009/shared_state.npz", + "video": "tube_empty/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000010/left.json", + "scene_id": "tube_empty/scene_000010", + "seed": 22360909, + "shared_state": "tube_empty/scene_000010/shared_state.npz", + "video": "tube_empty/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000010/front.json", + "scene_id": "tube_empty/scene_000010", + "seed": 22360909, + "shared_state": "tube_empty/scene_000010/shared_state.npz", + "video": "tube_empty/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000010/right.json", + "scene_id": "tube_empty/scene_000010", + "seed": 22360909, + "shared_state": "tube_empty/scene_000010/shared_state.npz", + "video": "tube_empty/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000011/left.json", + "scene_id": "tube_empty/scene_000011", + "seed": 22370909, + "shared_state": "tube_empty/scene_000011/shared_state.npz", + "video": "tube_empty/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000011/front.json", + "scene_id": "tube_empty/scene_000011", + "seed": 22370909, + "shared_state": "tube_empty/scene_000011/shared_state.npz", + "video": "tube_empty/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000011/right.json", + "scene_id": "tube_empty/scene_000011", + "seed": 22370909, + "shared_state": "tube_empty/scene_000011/shared_state.npz", + "video": "tube_empty/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000012/left.json", + "scene_id": "tube_empty/scene_000012", + "seed": 22380909, + "shared_state": "tube_empty/scene_000012/shared_state.npz", + "video": "tube_empty/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000012/front.json", + "scene_id": "tube_empty/scene_000012", + "seed": 22380909, + "shared_state": "tube_empty/scene_000012/shared_state.npz", + "video": "tube_empty/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000012/right.json", + "scene_id": "tube_empty/scene_000012", + "seed": 22380909, + "shared_state": "tube_empty/scene_000012/shared_state.npz", + "video": "tube_empty/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000013/left.json", + "scene_id": "tube_empty/scene_000013", + "seed": 22390909, + "shared_state": "tube_empty/scene_000013/shared_state.npz", + "video": "tube_empty/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000013/front.json", + "scene_id": "tube_empty/scene_000013", + "seed": 22390909, + "shared_state": "tube_empty/scene_000013/shared_state.npz", + "video": "tube_empty/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000013/right.json", + "scene_id": "tube_empty/scene_000013", + "seed": 22390909, + "shared_state": "tube_empty/scene_000013/shared_state.npz", + "video": "tube_empty/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000014/left.json", + "scene_id": "tube_empty/scene_000014", + "seed": 22400909, + "shared_state": "tube_empty/scene_000014/shared_state.npz", + "video": "tube_empty/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000014/front.json", + "scene_id": "tube_empty/scene_000014", + "seed": 22400909, + "shared_state": "tube_empty/scene_000014/shared_state.npz", + "video": "tube_empty/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000014/right.json", + "scene_id": "tube_empty/scene_000014", + "seed": 22400909, + "shared_state": "tube_empty/scene_000014/shared_state.npz", + "video": "tube_empty/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000015/left.json", + "scene_id": "tube_empty/scene_000015", + "seed": 22410911, + "shared_state": "tube_empty/scene_000015/shared_state.npz", + "video": "tube_empty/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000015/front.json", + "scene_id": "tube_empty/scene_000015", + "seed": 22410911, + "shared_state": "tube_empty/scene_000015/shared_state.npz", + "video": "tube_empty/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000015/right.json", + "scene_id": "tube_empty/scene_000015", + "seed": 22410911, + "shared_state": "tube_empty/scene_000015/shared_state.npz", + "video": "tube_empty/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000016/left.json", + "scene_id": "tube_empty/scene_000016", + "seed": 22420911, + "shared_state": "tube_empty/scene_000016/shared_state.npz", + "video": "tube_empty/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000016/front.json", + "scene_id": "tube_empty/scene_000016", + "seed": 22420911, + "shared_state": "tube_empty/scene_000016/shared_state.npz", + "video": "tube_empty/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000016/right.json", + "scene_id": "tube_empty/scene_000016", + "seed": 22420911, + "shared_state": "tube_empty/scene_000016/shared_state.npz", + "video": "tube_empty/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000017/left.json", + "scene_id": "tube_empty/scene_000017", + "seed": 22430910, + "shared_state": "tube_empty/scene_000017/shared_state.npz", + "video": "tube_empty/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000017/front.json", + "scene_id": "tube_empty/scene_000017", + "seed": 22430910, + "shared_state": "tube_empty/scene_000017/shared_state.npz", + "video": "tube_empty/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000017/right.json", + "scene_id": "tube_empty/scene_000017", + "seed": 22430910, + "shared_state": "tube_empty/scene_000017/shared_state.npz", + "video": "tube_empty/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000018/left.json", + "scene_id": "tube_empty/scene_000018", + "seed": 22440909, + "shared_state": "tube_empty/scene_000018/shared_state.npz", + "video": "tube_empty/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000018/front.json", + "scene_id": "tube_empty/scene_000018", + "seed": 22440909, + "shared_state": "tube_empty/scene_000018/shared_state.npz", + "video": "tube_empty/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000018/right.json", + "scene_id": "tube_empty/scene_000018", + "seed": 22440909, + "shared_state": "tube_empty/scene_000018/shared_state.npz", + "video": "tube_empty/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000019/left.json", + "scene_id": "tube_empty/scene_000019", + "seed": 22450910, + "shared_state": "tube_empty/scene_000019/shared_state.npz", + "video": "tube_empty/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000019/front.json", + "scene_id": "tube_empty/scene_000019", + "seed": 22450910, + "shared_state": "tube_empty/scene_000019/shared_state.npz", + "video": "tube_empty/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000019/right.json", + "scene_id": "tube_empty/scene_000019", + "seed": 22450910, + "shared_state": "tube_empty/scene_000019/shared_state.npz", + "video": "tube_empty/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000020/left.json", + "scene_id": "tube_empty/scene_000020", + "seed": 22460909, + "shared_state": "tube_empty/scene_000020/shared_state.npz", + "video": "tube_empty/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000020/front.json", + "scene_id": "tube_empty/scene_000020", + "seed": 22460909, + "shared_state": "tube_empty/scene_000020/shared_state.npz", + "video": "tube_empty/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000020/right.json", + "scene_id": "tube_empty/scene_000020", + "seed": 22460909, + "shared_state": "tube_empty/scene_000020/shared_state.npz", + "video": "tube_empty/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000021/left.json", + "scene_id": "tube_empty/scene_000021", + "seed": 22470909, + "shared_state": "tube_empty/scene_000021/shared_state.npz", + "video": "tube_empty/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000021/front.json", + "scene_id": "tube_empty/scene_000021", + "seed": 22470909, + "shared_state": "tube_empty/scene_000021/shared_state.npz", + "video": "tube_empty/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000021/right.json", + "scene_id": "tube_empty/scene_000021", + "seed": 22470909, + "shared_state": "tube_empty/scene_000021/shared_state.npz", + "video": "tube_empty/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000022/left.json", + "scene_id": "tube_empty/scene_000022", + "seed": 22480909, + "shared_state": "tube_empty/scene_000022/shared_state.npz", + "video": "tube_empty/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000022/front.json", + "scene_id": "tube_empty/scene_000022", + "seed": 22480909, + "shared_state": "tube_empty/scene_000022/shared_state.npz", + "video": "tube_empty/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000022/right.json", + "scene_id": "tube_empty/scene_000022", + "seed": 22480909, + "shared_state": "tube_empty/scene_000022/shared_state.npz", + "video": "tube_empty/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000023/left.json", + "scene_id": "tube_empty/scene_000023", + "seed": 22490909, + "shared_state": "tube_empty/scene_000023/shared_state.npz", + "video": "tube_empty/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000023/front.json", + "scene_id": "tube_empty/scene_000023", + "seed": 22490909, + "shared_state": "tube_empty/scene_000023/shared_state.npz", + "video": "tube_empty/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000023/right.json", + "scene_id": "tube_empty/scene_000023", + "seed": 22490909, + "shared_state": "tube_empty/scene_000023/shared_state.npz", + "video": "tube_empty/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000024/left.json", + "scene_id": "tube_empty/scene_000024", + "seed": 22500911, + "shared_state": "tube_empty/scene_000024/shared_state.npz", + "video": "tube_empty/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000024/front.json", + "scene_id": "tube_empty/scene_000024", + "seed": 22500911, + "shared_state": "tube_empty/scene_000024/shared_state.npz", + "video": "tube_empty/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000024/right.json", + "scene_id": "tube_empty/scene_000024", + "seed": 22500911, + "shared_state": "tube_empty/scene_000024/shared_state.npz", + "video": "tube_empty/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000025/left.json", + "scene_id": "tube_empty/scene_000025", + "seed": 22510910, + "shared_state": "tube_empty/scene_000025/shared_state.npz", + "video": "tube_empty/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000025/front.json", + "scene_id": "tube_empty/scene_000025", + "seed": 22510910, + "shared_state": "tube_empty/scene_000025/shared_state.npz", + "video": "tube_empty/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000025/right.json", + "scene_id": "tube_empty/scene_000025", + "seed": 22510910, + "shared_state": "tube_empty/scene_000025/shared_state.npz", + "video": "tube_empty/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000026/left.json", + "scene_id": "tube_empty/scene_000026", + "seed": 22520910, + "shared_state": "tube_empty/scene_000026/shared_state.npz", + "video": "tube_empty/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000026/front.json", + "scene_id": "tube_empty/scene_000026", + "seed": 22520910, + "shared_state": "tube_empty/scene_000026/shared_state.npz", + "video": "tube_empty/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000026/right.json", + "scene_id": "tube_empty/scene_000026", + "seed": 22520910, + "shared_state": "tube_empty/scene_000026/shared_state.npz", + "video": "tube_empty/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000027/left.json", + "scene_id": "tube_empty/scene_000027", + "seed": 22530910, + "shared_state": "tube_empty/scene_000027/shared_state.npz", + "video": "tube_empty/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000027/front.json", + "scene_id": "tube_empty/scene_000027", + "seed": 22530910, + "shared_state": "tube_empty/scene_000027/shared_state.npz", + "video": "tube_empty/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000027/right.json", + "scene_id": "tube_empty/scene_000027", + "seed": 22530910, + "shared_state": "tube_empty/scene_000027/shared_state.npz", + "video": "tube_empty/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000028/left.json", + "scene_id": "tube_empty/scene_000028", + "seed": 22540910, + "shared_state": "tube_empty/scene_000028/shared_state.npz", + "video": "tube_empty/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000028/front.json", + "scene_id": "tube_empty/scene_000028", + "seed": 22540910, + "shared_state": "tube_empty/scene_000028/shared_state.npz", + "video": "tube_empty/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000028/right.json", + "scene_id": "tube_empty/scene_000028", + "seed": 22540910, + "shared_state": "tube_empty/scene_000028/shared_state.npz", + "video": "tube_empty/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000029/left.json", + "scene_id": "tube_empty/scene_000029", + "seed": 22550911, + "shared_state": "tube_empty/scene_000029/shared_state.npz", + "video": "tube_empty/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000029/front.json", + "scene_id": "tube_empty/scene_000029", + "seed": 22550911, + "shared_state": "tube_empty/scene_000029/shared_state.npz", + "video": "tube_empty/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000029/right.json", + "scene_id": "tube_empty/scene_000029", + "seed": 22550911, + "shared_state": "tube_empty/scene_000029/shared_state.npz", + "video": "tube_empty/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000030/left.json", + "scene_id": "tube_empty/scene_000030", + "seed": 22560909, + "shared_state": "tube_empty/scene_000030/shared_state.npz", + "video": "tube_empty/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000030/front.json", + "scene_id": "tube_empty/scene_000030", + "seed": 22560909, + "shared_state": "tube_empty/scene_000030/shared_state.npz", + "video": "tube_empty/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000030/right.json", + "scene_id": "tube_empty/scene_000030", + "seed": 22560909, + "shared_state": "tube_empty/scene_000030/shared_state.npz", + "video": "tube_empty/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000031/left.json", + "scene_id": "tube_empty/scene_000031", + "seed": 22570910, + "shared_state": "tube_empty/scene_000031/shared_state.npz", + "video": "tube_empty/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000031/front.json", + "scene_id": "tube_empty/scene_000031", + "seed": 22570910, + "shared_state": "tube_empty/scene_000031/shared_state.npz", + "video": "tube_empty/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000031/right.json", + "scene_id": "tube_empty/scene_000031", + "seed": 22570910, + "shared_state": "tube_empty/scene_000031/shared_state.npz", + "video": "tube_empty/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000032/left.json", + "scene_id": "tube_empty/scene_000032", + "seed": 22580910, + "shared_state": "tube_empty/scene_000032/shared_state.npz", + "video": "tube_empty/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000032/front.json", + "scene_id": "tube_empty/scene_000032", + "seed": 22580910, + "shared_state": "tube_empty/scene_000032/shared_state.npz", + "video": "tube_empty/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000032/right.json", + "scene_id": "tube_empty/scene_000032", + "seed": 22580910, + "shared_state": "tube_empty/scene_000032/shared_state.npz", + "video": "tube_empty/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000033/left.json", + "scene_id": "tube_empty/scene_000033", + "seed": 22590909, + "shared_state": "tube_empty/scene_000033/shared_state.npz", + "video": "tube_empty/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000033/front.json", + "scene_id": "tube_empty/scene_000033", + "seed": 22590909, + "shared_state": "tube_empty/scene_000033/shared_state.npz", + "video": "tube_empty/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000033/right.json", + "scene_id": "tube_empty/scene_000033", + "seed": 22590909, + "shared_state": "tube_empty/scene_000033/shared_state.npz", + "video": "tube_empty/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000034/left.json", + "scene_id": "tube_empty/scene_000034", + "seed": 22600909, + "shared_state": "tube_empty/scene_000034/shared_state.npz", + "video": "tube_empty/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000034/front.json", + "scene_id": "tube_empty/scene_000034", + "seed": 22600909, + "shared_state": "tube_empty/scene_000034/shared_state.npz", + "video": "tube_empty/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000034/right.json", + "scene_id": "tube_empty/scene_000034", + "seed": 22600909, + "shared_state": "tube_empty/scene_000034/shared_state.npz", + "video": "tube_empty/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000035/left.json", + "scene_id": "tube_empty/scene_000035", + "seed": 22610909, + "shared_state": "tube_empty/scene_000035/shared_state.npz", + "video": "tube_empty/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000035/front.json", + "scene_id": "tube_empty/scene_000035", + "seed": 22610909, + "shared_state": "tube_empty/scene_000035/shared_state.npz", + "video": "tube_empty/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000035/right.json", + "scene_id": "tube_empty/scene_000035", + "seed": 22610909, + "shared_state": "tube_empty/scene_000035/shared_state.npz", + "video": "tube_empty/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000036/left.json", + "scene_id": "tube_empty/scene_000036", + "seed": 22620911, + "shared_state": "tube_empty/scene_000036/shared_state.npz", + "video": "tube_empty/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000036/front.json", + "scene_id": "tube_empty/scene_000036", + "seed": 22620911, + "shared_state": "tube_empty/scene_000036/shared_state.npz", + "video": "tube_empty/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000036/right.json", + "scene_id": "tube_empty/scene_000036", + "seed": 22620911, + "shared_state": "tube_empty/scene_000036/shared_state.npz", + "video": "tube_empty/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000037/left.json", + "scene_id": "tube_empty/scene_000037", + "seed": 22630909, + "shared_state": "tube_empty/scene_000037/shared_state.npz", + "video": "tube_empty/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000037/front.json", + "scene_id": "tube_empty/scene_000037", + "seed": 22630909, + "shared_state": "tube_empty/scene_000037/shared_state.npz", + "video": "tube_empty/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000037/right.json", + "scene_id": "tube_empty/scene_000037", + "seed": 22630909, + "shared_state": "tube_empty/scene_000037/shared_state.npz", + "video": "tube_empty/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000038/left.json", + "scene_id": "tube_empty/scene_000038", + "seed": 22640910, + "shared_state": "tube_empty/scene_000038/shared_state.npz", + "video": "tube_empty/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000038/front.json", + "scene_id": "tube_empty/scene_000038", + "seed": 22640910, + "shared_state": "tube_empty/scene_000038/shared_state.npz", + "video": "tube_empty/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000038/right.json", + "scene_id": "tube_empty/scene_000038", + "seed": 22640910, + "shared_state": "tube_empty/scene_000038/shared_state.npz", + "video": "tube_empty/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000039/left.json", + "scene_id": "tube_empty/scene_000039", + "seed": 22650909, + "shared_state": "tube_empty/scene_000039/shared_state.npz", + "video": "tube_empty/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000039/front.json", + "scene_id": "tube_empty/scene_000039", + "seed": 22650909, + "shared_state": "tube_empty/scene_000039/shared_state.npz", + "video": "tube_empty/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000039/right.json", + "scene_id": "tube_empty/scene_000039", + "seed": 22650909, + "shared_state": "tube_empty/scene_000039/shared_state.npz", + "video": "tube_empty/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000040/left.json", + "scene_id": "tube_empty/scene_000040", + "seed": 22660910, + "shared_state": "tube_empty/scene_000040/shared_state.npz", + "video": "tube_empty/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000040/front.json", + "scene_id": "tube_empty/scene_000040", + "seed": 22660910, + "shared_state": "tube_empty/scene_000040/shared_state.npz", + "video": "tube_empty/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000040/right.json", + "scene_id": "tube_empty/scene_000040", + "seed": 22660910, + "shared_state": "tube_empty/scene_000040/shared_state.npz", + "video": "tube_empty/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000041/left.json", + "scene_id": "tube_empty/scene_000041", + "seed": 22670909, + "shared_state": "tube_empty/scene_000041/shared_state.npz", + "video": "tube_empty/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000041/front.json", + "scene_id": "tube_empty/scene_000041", + "seed": 22670909, + "shared_state": "tube_empty/scene_000041/shared_state.npz", + "video": "tube_empty/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000041/right.json", + "scene_id": "tube_empty/scene_000041", + "seed": 22670909, + "shared_state": "tube_empty/scene_000041/shared_state.npz", + "video": "tube_empty/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000042/left.json", + "scene_id": "tube_empty/scene_000042", + "seed": 22680909, + "shared_state": "tube_empty/scene_000042/shared_state.npz", + "video": "tube_empty/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000042/front.json", + "scene_id": "tube_empty/scene_000042", + "seed": 22680909, + "shared_state": "tube_empty/scene_000042/shared_state.npz", + "video": "tube_empty/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000042/right.json", + "scene_id": "tube_empty/scene_000042", + "seed": 22680909, + "shared_state": "tube_empty/scene_000042/shared_state.npz", + "video": "tube_empty/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000043/left.json", + "scene_id": "tube_empty/scene_000043", + "seed": 22690909, + "shared_state": "tube_empty/scene_000043/shared_state.npz", + "video": "tube_empty/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000043/front.json", + "scene_id": "tube_empty/scene_000043", + "seed": 22690909, + "shared_state": "tube_empty/scene_000043/shared_state.npz", + "video": "tube_empty/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000043/right.json", + "scene_id": "tube_empty/scene_000043", + "seed": 22690909, + "shared_state": "tube_empty/scene_000043/shared_state.npz", + "video": "tube_empty/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000044/left.json", + "scene_id": "tube_empty/scene_000044", + "seed": 22700910, + "shared_state": "tube_empty/scene_000044/shared_state.npz", + "video": "tube_empty/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000044/front.json", + "scene_id": "tube_empty/scene_000044", + "seed": 22700910, + "shared_state": "tube_empty/scene_000044/shared_state.npz", + "video": "tube_empty/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000044/right.json", + "scene_id": "tube_empty/scene_000044", + "seed": 22700910, + "shared_state": "tube_empty/scene_000044/shared_state.npz", + "video": "tube_empty/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000045/left.json", + "scene_id": "tube_empty/scene_000045", + "seed": 22710910, + "shared_state": "tube_empty/scene_000045/shared_state.npz", + "video": "tube_empty/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000045/front.json", + "scene_id": "tube_empty/scene_000045", + "seed": 22710910, + "shared_state": "tube_empty/scene_000045/shared_state.npz", + "video": "tube_empty/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000045/right.json", + "scene_id": "tube_empty/scene_000045", + "seed": 22710910, + "shared_state": "tube_empty/scene_000045/shared_state.npz", + "video": "tube_empty/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000046/left.json", + "scene_id": "tube_empty/scene_000046", + "seed": 22720909, + "shared_state": "tube_empty/scene_000046/shared_state.npz", + "video": "tube_empty/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000046/front.json", + "scene_id": "tube_empty/scene_000046", + "seed": 22720909, + "shared_state": "tube_empty/scene_000046/shared_state.npz", + "video": "tube_empty/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000046/right.json", + "scene_id": "tube_empty/scene_000046", + "seed": 22720909, + "shared_state": "tube_empty/scene_000046/shared_state.npz", + "video": "tube_empty/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000047/left.json", + "scene_id": "tube_empty/scene_000047", + "seed": 22730910, + "shared_state": "tube_empty/scene_000047/shared_state.npz", + "video": "tube_empty/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000047/front.json", + "scene_id": "tube_empty/scene_000047", + "seed": 22730910, + "shared_state": "tube_empty/scene_000047/shared_state.npz", + "video": "tube_empty/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000047/right.json", + "scene_id": "tube_empty/scene_000047", + "seed": 22730910, + "shared_state": "tube_empty/scene_000047/shared_state.npz", + "video": "tube_empty/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000048/left.json", + "scene_id": "tube_empty/scene_000048", + "seed": 22740909, + "shared_state": "tube_empty/scene_000048/shared_state.npz", + "video": "tube_empty/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000048/front.json", + "scene_id": "tube_empty/scene_000048", + "seed": 22740909, + "shared_state": "tube_empty/scene_000048/shared_state.npz", + "video": "tube_empty/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000048/right.json", + "scene_id": "tube_empty/scene_000048", + "seed": 22740909, + "shared_state": "tube_empty/scene_000048/shared_state.npz", + "video": "tube_empty/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000049/left.json", + "scene_id": "tube_empty/scene_000049", + "seed": 22750909, + "shared_state": "tube_empty/scene_000049/shared_state.npz", + "video": "tube_empty/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000049/front.json", + "scene_id": "tube_empty/scene_000049", + "seed": 22750909, + "shared_state": "tube_empty/scene_000049/shared_state.npz", + "video": "tube_empty/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000049/right.json", + "scene_id": "tube_empty/scene_000049", + "seed": 22750909, + "shared_state": "tube_empty/scene_000049/shared_state.npz", + "video": "tube_empty/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000050/left.json", + "scene_id": "tube_empty/scene_000050", + "seed": 22760909, + "shared_state": "tube_empty/scene_000050/shared_state.npz", + "video": "tube_empty/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000050/front.json", + "scene_id": "tube_empty/scene_000050", + "seed": 22760909, + "shared_state": "tube_empty/scene_000050/shared_state.npz", + "video": "tube_empty/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000050/right.json", + "scene_id": "tube_empty/scene_000050", + "seed": 22760909, + "shared_state": "tube_empty/scene_000050/shared_state.npz", + "video": "tube_empty/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000051/left.json", + "scene_id": "tube_empty/scene_000051", + "seed": 22770909, + "shared_state": "tube_empty/scene_000051/shared_state.npz", + "video": "tube_empty/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000051/front.json", + "scene_id": "tube_empty/scene_000051", + "seed": 22770909, + "shared_state": "tube_empty/scene_000051/shared_state.npz", + "video": "tube_empty/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000051/right.json", + "scene_id": "tube_empty/scene_000051", + "seed": 22770909, + "shared_state": "tube_empty/scene_000051/shared_state.npz", + "video": "tube_empty/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000052/left.json", + "scene_id": "tube_empty/scene_000052", + "seed": 22780909, + "shared_state": "tube_empty/scene_000052/shared_state.npz", + "video": "tube_empty/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000052/front.json", + "scene_id": "tube_empty/scene_000052", + "seed": 22780909, + "shared_state": "tube_empty/scene_000052/shared_state.npz", + "video": "tube_empty/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000052/right.json", + "scene_id": "tube_empty/scene_000052", + "seed": 22780909, + "shared_state": "tube_empty/scene_000052/shared_state.npz", + "video": "tube_empty/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000053/left.json", + "scene_id": "tube_empty/scene_000053", + "seed": 22790909, + "shared_state": "tube_empty/scene_000053/shared_state.npz", + "video": "tube_empty/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000053/front.json", + "scene_id": "tube_empty/scene_000053", + "seed": 22790909, + "shared_state": "tube_empty/scene_000053/shared_state.npz", + "video": "tube_empty/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000053/right.json", + "scene_id": "tube_empty/scene_000053", + "seed": 22790909, + "shared_state": "tube_empty/scene_000053/shared_state.npz", + "video": "tube_empty/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000054/left.json", + "scene_id": "tube_empty/scene_000054", + "seed": 22800909, + "shared_state": "tube_empty/scene_000054/shared_state.npz", + "video": "tube_empty/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000054/front.json", + "scene_id": "tube_empty/scene_000054", + "seed": 22800909, + "shared_state": "tube_empty/scene_000054/shared_state.npz", + "video": "tube_empty/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000054/right.json", + "scene_id": "tube_empty/scene_000054", + "seed": 22800909, + "shared_state": "tube_empty/scene_000054/shared_state.npz", + "video": "tube_empty/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000055/left.json", + "scene_id": "tube_empty/scene_000055", + "seed": 22810909, + "shared_state": "tube_empty/scene_000055/shared_state.npz", + "video": "tube_empty/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000055/front.json", + "scene_id": "tube_empty/scene_000055", + "seed": 22810909, + "shared_state": "tube_empty/scene_000055/shared_state.npz", + "video": "tube_empty/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000055/right.json", + "scene_id": "tube_empty/scene_000055", + "seed": 22810909, + "shared_state": "tube_empty/scene_000055/shared_state.npz", + "video": "tube_empty/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000056/left.json", + "scene_id": "tube_empty/scene_000056", + "seed": 22820910, + "shared_state": "tube_empty/scene_000056/shared_state.npz", + "video": "tube_empty/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000056/front.json", + "scene_id": "tube_empty/scene_000056", + "seed": 22820910, + "shared_state": "tube_empty/scene_000056/shared_state.npz", + "video": "tube_empty/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000056/right.json", + "scene_id": "tube_empty/scene_000056", + "seed": 22820910, + "shared_state": "tube_empty/scene_000056/shared_state.npz", + "video": "tube_empty/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000057/left.json", + "scene_id": "tube_empty/scene_000057", + "seed": 22830909, + "shared_state": "tube_empty/scene_000057/shared_state.npz", + "video": "tube_empty/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000057/front.json", + "scene_id": "tube_empty/scene_000057", + "seed": 22830909, + "shared_state": "tube_empty/scene_000057/shared_state.npz", + "video": "tube_empty/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000057/right.json", + "scene_id": "tube_empty/scene_000057", + "seed": 22830909, + "shared_state": "tube_empty/scene_000057/shared_state.npz", + "video": "tube_empty/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000058/left.json", + "scene_id": "tube_empty/scene_000058", + "seed": 22840909, + "shared_state": "tube_empty/scene_000058/shared_state.npz", + "video": "tube_empty/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000058/front.json", + "scene_id": "tube_empty/scene_000058", + "seed": 22840909, + "shared_state": "tube_empty/scene_000058/shared_state.npz", + "video": "tube_empty/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000058/right.json", + "scene_id": "tube_empty/scene_000058", + "seed": 22840909, + "shared_state": "tube_empty/scene_000058/shared_state.npz", + "video": "tube_empty/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000059/left.json", + "scene_id": "tube_empty/scene_000059", + "seed": 22850909, + "shared_state": "tube_empty/scene_000059/shared_state.npz", + "video": "tube_empty/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000059/front.json", + "scene_id": "tube_empty/scene_000059", + "seed": 22850909, + "shared_state": "tube_empty/scene_000059/shared_state.npz", + "video": "tube_empty/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000059/right.json", + "scene_id": "tube_empty/scene_000059", + "seed": 22850909, + "shared_state": "tube_empty/scene_000059/shared_state.npz", + "video": "tube_empty/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000060/left.json", + "scene_id": "tube_empty/scene_000060", + "seed": 22860910, + "shared_state": "tube_empty/scene_000060/shared_state.npz", + "video": "tube_empty/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000060/front.json", + "scene_id": "tube_empty/scene_000060", + "seed": 22860910, + "shared_state": "tube_empty/scene_000060/shared_state.npz", + "video": "tube_empty/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000060/right.json", + "scene_id": "tube_empty/scene_000060", + "seed": 22860910, + "shared_state": "tube_empty/scene_000060/shared_state.npz", + "video": "tube_empty/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000061/left.json", + "scene_id": "tube_empty/scene_000061", + "seed": 22870909, + "shared_state": "tube_empty/scene_000061/shared_state.npz", + "video": "tube_empty/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000061/front.json", + "scene_id": "tube_empty/scene_000061", + "seed": 22870909, + "shared_state": "tube_empty/scene_000061/shared_state.npz", + "video": "tube_empty/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000061/right.json", + "scene_id": "tube_empty/scene_000061", + "seed": 22870909, + "shared_state": "tube_empty/scene_000061/shared_state.npz", + "video": "tube_empty/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000062/left.json", + "scene_id": "tube_empty/scene_000062", + "seed": 22880909, + "shared_state": "tube_empty/scene_000062/shared_state.npz", + "video": "tube_empty/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000062/front.json", + "scene_id": "tube_empty/scene_000062", + "seed": 22880909, + "shared_state": "tube_empty/scene_000062/shared_state.npz", + "video": "tube_empty/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000062/right.json", + "scene_id": "tube_empty/scene_000062", + "seed": 22880909, + "shared_state": "tube_empty/scene_000062/shared_state.npz", + "video": "tube_empty/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000063/left.json", + "scene_id": "tube_empty/scene_000063", + "seed": 22890909, + "shared_state": "tube_empty/scene_000063/shared_state.npz", + "video": "tube_empty/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000063/front.json", + "scene_id": "tube_empty/scene_000063", + "seed": 22890909, + "shared_state": "tube_empty/scene_000063/shared_state.npz", + "video": "tube_empty/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000063/right.json", + "scene_id": "tube_empty/scene_000063", + "seed": 22890909, + "shared_state": "tube_empty/scene_000063/shared_state.npz", + "video": "tube_empty/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000064/left.json", + "scene_id": "tube_empty/scene_000064", + "seed": 22900909, + "shared_state": "tube_empty/scene_000064/shared_state.npz", + "video": "tube_empty/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000064/front.json", + "scene_id": "tube_empty/scene_000064", + "seed": 22900909, + "shared_state": "tube_empty/scene_000064/shared_state.npz", + "video": "tube_empty/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000064/right.json", + "scene_id": "tube_empty/scene_000064", + "seed": 22900909, + "shared_state": "tube_empty/scene_000064/shared_state.npz", + "video": "tube_empty/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000065/left.json", + "scene_id": "tube_empty/scene_000065", + "seed": 22910910, + "shared_state": "tube_empty/scene_000065/shared_state.npz", + "video": "tube_empty/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000065/front.json", + "scene_id": "tube_empty/scene_000065", + "seed": 22910910, + "shared_state": "tube_empty/scene_000065/shared_state.npz", + "video": "tube_empty/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000065/right.json", + "scene_id": "tube_empty/scene_000065", + "seed": 22910910, + "shared_state": "tube_empty/scene_000065/shared_state.npz", + "video": "tube_empty/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000066/left.json", + "scene_id": "tube_empty/scene_000066", + "seed": 22920909, + "shared_state": "tube_empty/scene_000066/shared_state.npz", + "video": "tube_empty/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000066/front.json", + "scene_id": "tube_empty/scene_000066", + "seed": 22920909, + "shared_state": "tube_empty/scene_000066/shared_state.npz", + "video": "tube_empty/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000066/right.json", + "scene_id": "tube_empty/scene_000066", + "seed": 22920909, + "shared_state": "tube_empty/scene_000066/shared_state.npz", + "video": "tube_empty/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000067/left.json", + "scene_id": "tube_empty/scene_000067", + "seed": 22930909, + "shared_state": "tube_empty/scene_000067/shared_state.npz", + "video": "tube_empty/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000067/front.json", + "scene_id": "tube_empty/scene_000067", + "seed": 22930909, + "shared_state": "tube_empty/scene_000067/shared_state.npz", + "video": "tube_empty/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000067/right.json", + "scene_id": "tube_empty/scene_000067", + "seed": 22930909, + "shared_state": "tube_empty/scene_000067/shared_state.npz", + "video": "tube_empty/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000068/left.json", + "scene_id": "tube_empty/scene_000068", + "seed": 22940909, + "shared_state": "tube_empty/scene_000068/shared_state.npz", + "video": "tube_empty/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000068/front.json", + "scene_id": "tube_empty/scene_000068", + "seed": 22940909, + "shared_state": "tube_empty/scene_000068/shared_state.npz", + "video": "tube_empty/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000068/right.json", + "scene_id": "tube_empty/scene_000068", + "seed": 22940909, + "shared_state": "tube_empty/scene_000068/shared_state.npz", + "video": "tube_empty/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000069/left.json", + "scene_id": "tube_empty/scene_000069", + "seed": 22950909, + "shared_state": "tube_empty/scene_000069/shared_state.npz", + "video": "tube_empty/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000069/front.json", + "scene_id": "tube_empty/scene_000069", + "seed": 22950909, + "shared_state": "tube_empty/scene_000069/shared_state.npz", + "video": "tube_empty/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000069/right.json", + "scene_id": "tube_empty/scene_000069", + "seed": 22950909, + "shared_state": "tube_empty/scene_000069/shared_state.npz", + "video": "tube_empty/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000070/left.json", + "scene_id": "tube_empty/scene_000070", + "seed": 22960909, + "shared_state": "tube_empty/scene_000070/shared_state.npz", + "video": "tube_empty/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000070/front.json", + "scene_id": "tube_empty/scene_000070", + "seed": 22960909, + "shared_state": "tube_empty/scene_000070/shared_state.npz", + "video": "tube_empty/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000070/right.json", + "scene_id": "tube_empty/scene_000070", + "seed": 22960909, + "shared_state": "tube_empty/scene_000070/shared_state.npz", + "video": "tube_empty/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000071/left.json", + "scene_id": "tube_empty/scene_000071", + "seed": 22970909, + "shared_state": "tube_empty/scene_000071/shared_state.npz", + "video": "tube_empty/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000071/front.json", + "scene_id": "tube_empty/scene_000071", + "seed": 22970909, + "shared_state": "tube_empty/scene_000071/shared_state.npz", + "video": "tube_empty/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000071/right.json", + "scene_id": "tube_empty/scene_000071", + "seed": 22970909, + "shared_state": "tube_empty/scene_000071/shared_state.npz", + "video": "tube_empty/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000072/left.json", + "scene_id": "tube_empty/scene_000072", + "seed": 22980909, + "shared_state": "tube_empty/scene_000072/shared_state.npz", + "video": "tube_empty/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000072/front.json", + "scene_id": "tube_empty/scene_000072", + "seed": 22980909, + "shared_state": "tube_empty/scene_000072/shared_state.npz", + "video": "tube_empty/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000072/right.json", + "scene_id": "tube_empty/scene_000072", + "seed": 22980909, + "shared_state": "tube_empty/scene_000072/shared_state.npz", + "video": "tube_empty/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000073/left.json", + "scene_id": "tube_empty/scene_000073", + "seed": 22990909, + "shared_state": "tube_empty/scene_000073/shared_state.npz", + "video": "tube_empty/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000073/front.json", + "scene_id": "tube_empty/scene_000073", + "seed": 22990909, + "shared_state": "tube_empty/scene_000073/shared_state.npz", + "video": "tube_empty/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000073/right.json", + "scene_id": "tube_empty/scene_000073", + "seed": 22990909, + "shared_state": "tube_empty/scene_000073/shared_state.npz", + "video": "tube_empty/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000074/left.json", + "scene_id": "tube_empty/scene_000074", + "seed": 23000910, + "shared_state": "tube_empty/scene_000074/shared_state.npz", + "video": "tube_empty/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000074/front.json", + "scene_id": "tube_empty/scene_000074", + "seed": 23000910, + "shared_state": "tube_empty/scene_000074/shared_state.npz", + "video": "tube_empty/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000074/right.json", + "scene_id": "tube_empty/scene_000074", + "seed": 23000910, + "shared_state": "tube_empty/scene_000074/shared_state.npz", + "video": "tube_empty/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000075/left.json", + "scene_id": "tube_empty/scene_000075", + "seed": 23010909, + "shared_state": "tube_empty/scene_000075/shared_state.npz", + "video": "tube_empty/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000075/front.json", + "scene_id": "tube_empty/scene_000075", + "seed": 23010909, + "shared_state": "tube_empty/scene_000075/shared_state.npz", + "video": "tube_empty/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000075/right.json", + "scene_id": "tube_empty/scene_000075", + "seed": 23010909, + "shared_state": "tube_empty/scene_000075/shared_state.npz", + "video": "tube_empty/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000076/left.json", + "scene_id": "tube_empty/scene_000076", + "seed": 23020909, + "shared_state": "tube_empty/scene_000076/shared_state.npz", + "video": "tube_empty/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000076/front.json", + "scene_id": "tube_empty/scene_000076", + "seed": 23020909, + "shared_state": "tube_empty/scene_000076/shared_state.npz", + "video": "tube_empty/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000076/right.json", + "scene_id": "tube_empty/scene_000076", + "seed": 23020909, + "shared_state": "tube_empty/scene_000076/shared_state.npz", + "video": "tube_empty/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000077/left.json", + "scene_id": "tube_empty/scene_000077", + "seed": 23030911, + "shared_state": "tube_empty/scene_000077/shared_state.npz", + "video": "tube_empty/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000077/front.json", + "scene_id": "tube_empty/scene_000077", + "seed": 23030911, + "shared_state": "tube_empty/scene_000077/shared_state.npz", + "video": "tube_empty/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000077/right.json", + "scene_id": "tube_empty/scene_000077", + "seed": 23030911, + "shared_state": "tube_empty/scene_000077/shared_state.npz", + "video": "tube_empty/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000078/left.json", + "scene_id": "tube_empty/scene_000078", + "seed": 23040909, + "shared_state": "tube_empty/scene_000078/shared_state.npz", + "video": "tube_empty/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000078/front.json", + "scene_id": "tube_empty/scene_000078", + "seed": 23040909, + "shared_state": "tube_empty/scene_000078/shared_state.npz", + "video": "tube_empty/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000078/right.json", + "scene_id": "tube_empty/scene_000078", + "seed": 23040909, + "shared_state": "tube_empty/scene_000078/shared_state.npz", + "video": "tube_empty/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000079/left.json", + "scene_id": "tube_empty/scene_000079", + "seed": 23050909, + "shared_state": "tube_empty/scene_000079/shared_state.npz", + "video": "tube_empty/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000079/front.json", + "scene_id": "tube_empty/scene_000079", + "seed": 23050909, + "shared_state": "tube_empty/scene_000079/shared_state.npz", + "video": "tube_empty/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000079/right.json", + "scene_id": "tube_empty/scene_000079", + "seed": 23050909, + "shared_state": "tube_empty/scene_000079/shared_state.npz", + "video": "tube_empty/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000080/left.json", + "scene_id": "tube_empty/scene_000080", + "seed": 23060909, + "shared_state": "tube_empty/scene_000080/shared_state.npz", + "video": "tube_empty/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000080/front.json", + "scene_id": "tube_empty/scene_000080", + "seed": 23060909, + "shared_state": "tube_empty/scene_000080/shared_state.npz", + "video": "tube_empty/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000080/right.json", + "scene_id": "tube_empty/scene_000080", + "seed": 23060909, + "shared_state": "tube_empty/scene_000080/shared_state.npz", + "video": "tube_empty/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000081/left.json", + "scene_id": "tube_empty/scene_000081", + "seed": 23070909, + "shared_state": "tube_empty/scene_000081/shared_state.npz", + "video": "tube_empty/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000081/front.json", + "scene_id": "tube_empty/scene_000081", + "seed": 23070909, + "shared_state": "tube_empty/scene_000081/shared_state.npz", + "video": "tube_empty/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000081/right.json", + "scene_id": "tube_empty/scene_000081", + "seed": 23070909, + "shared_state": "tube_empty/scene_000081/shared_state.npz", + "video": "tube_empty/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000082/left.json", + "scene_id": "tube_empty/scene_000082", + "seed": 23080911, + "shared_state": "tube_empty/scene_000082/shared_state.npz", + "video": "tube_empty/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000082/front.json", + "scene_id": "tube_empty/scene_000082", + "seed": 23080911, + "shared_state": "tube_empty/scene_000082/shared_state.npz", + "video": "tube_empty/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000082/right.json", + "scene_id": "tube_empty/scene_000082", + "seed": 23080911, + "shared_state": "tube_empty/scene_000082/shared_state.npz", + "video": "tube_empty/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000083/left.json", + "scene_id": "tube_empty/scene_000083", + "seed": 23090910, + "shared_state": "tube_empty/scene_000083/shared_state.npz", + "video": "tube_empty/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000083/front.json", + "scene_id": "tube_empty/scene_000083", + "seed": 23090910, + "shared_state": "tube_empty/scene_000083/shared_state.npz", + "video": "tube_empty/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000083/right.json", + "scene_id": "tube_empty/scene_000083", + "seed": 23090910, + "shared_state": "tube_empty/scene_000083/shared_state.npz", + "video": "tube_empty/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000084/left.json", + "scene_id": "tube_empty/scene_000084", + "seed": 23100910, + "shared_state": "tube_empty/scene_000084/shared_state.npz", + "video": "tube_empty/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000084/front.json", + "scene_id": "tube_empty/scene_000084", + "seed": 23100910, + "shared_state": "tube_empty/scene_000084/shared_state.npz", + "video": "tube_empty/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000084/right.json", + "scene_id": "tube_empty/scene_000084", + "seed": 23100910, + "shared_state": "tube_empty/scene_000084/shared_state.npz", + "video": "tube_empty/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000085/left.json", + "scene_id": "tube_empty/scene_000085", + "seed": 23110909, + "shared_state": "tube_empty/scene_000085/shared_state.npz", + "video": "tube_empty/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000085/front.json", + "scene_id": "tube_empty/scene_000085", + "seed": 23110909, + "shared_state": "tube_empty/scene_000085/shared_state.npz", + "video": "tube_empty/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000085/right.json", + "scene_id": "tube_empty/scene_000085", + "seed": 23110909, + "shared_state": "tube_empty/scene_000085/shared_state.npz", + "video": "tube_empty/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000086/left.json", + "scene_id": "tube_empty/scene_000086", + "seed": 23120909, + "shared_state": "tube_empty/scene_000086/shared_state.npz", + "video": "tube_empty/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000086/front.json", + "scene_id": "tube_empty/scene_000086", + "seed": 23120909, + "shared_state": "tube_empty/scene_000086/shared_state.npz", + "video": "tube_empty/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000086/right.json", + "scene_id": "tube_empty/scene_000086", + "seed": 23120909, + "shared_state": "tube_empty/scene_000086/shared_state.npz", + "video": "tube_empty/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000087/left.json", + "scene_id": "tube_empty/scene_000087", + "seed": 23130909, + "shared_state": "tube_empty/scene_000087/shared_state.npz", + "video": "tube_empty/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000087/front.json", + "scene_id": "tube_empty/scene_000087", + "seed": 23130909, + "shared_state": "tube_empty/scene_000087/shared_state.npz", + "video": "tube_empty/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000087/right.json", + "scene_id": "tube_empty/scene_000087", + "seed": 23130909, + "shared_state": "tube_empty/scene_000087/shared_state.npz", + "video": "tube_empty/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000088/left.json", + "scene_id": "tube_empty/scene_000088", + "seed": 23140909, + "shared_state": "tube_empty/scene_000088/shared_state.npz", + "video": "tube_empty/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000088/front.json", + "scene_id": "tube_empty/scene_000088", + "seed": 23140909, + "shared_state": "tube_empty/scene_000088/shared_state.npz", + "video": "tube_empty/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000088/right.json", + "scene_id": "tube_empty/scene_000088", + "seed": 23140909, + "shared_state": "tube_empty/scene_000088/shared_state.npz", + "video": "tube_empty/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000089/left.json", + "scene_id": "tube_empty/scene_000089", + "seed": 23150909, + "shared_state": "tube_empty/scene_000089/shared_state.npz", + "video": "tube_empty/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000089/front.json", + "scene_id": "tube_empty/scene_000089", + "seed": 23150909, + "shared_state": "tube_empty/scene_000089/shared_state.npz", + "video": "tube_empty/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000089/right.json", + "scene_id": "tube_empty/scene_000089", + "seed": 23150909, + "shared_state": "tube_empty/scene_000089/shared_state.npz", + "video": "tube_empty/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000090/left.json", + "scene_id": "tube_empty/scene_000090", + "seed": 23160909, + "shared_state": "tube_empty/scene_000090/shared_state.npz", + "video": "tube_empty/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000090/front.json", + "scene_id": "tube_empty/scene_000090", + "seed": 23160909, + "shared_state": "tube_empty/scene_000090/shared_state.npz", + "video": "tube_empty/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000090/right.json", + "scene_id": "tube_empty/scene_000090", + "seed": 23160909, + "shared_state": "tube_empty/scene_000090/shared_state.npz", + "video": "tube_empty/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000091/left.json", + "scene_id": "tube_empty/scene_000091", + "seed": 23170909, + "shared_state": "tube_empty/scene_000091/shared_state.npz", + "video": "tube_empty/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000091/front.json", + "scene_id": "tube_empty/scene_000091", + "seed": 23170909, + "shared_state": "tube_empty/scene_000091/shared_state.npz", + "video": "tube_empty/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000091/right.json", + "scene_id": "tube_empty/scene_000091", + "seed": 23170909, + "shared_state": "tube_empty/scene_000091/shared_state.npz", + "video": "tube_empty/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000092/left.json", + "scene_id": "tube_empty/scene_000092", + "seed": 23180909, + "shared_state": "tube_empty/scene_000092/shared_state.npz", + "video": "tube_empty/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000092/front.json", + "scene_id": "tube_empty/scene_000092", + "seed": 23180909, + "shared_state": "tube_empty/scene_000092/shared_state.npz", + "video": "tube_empty/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000092/right.json", + "scene_id": "tube_empty/scene_000092", + "seed": 23180909, + "shared_state": "tube_empty/scene_000092/shared_state.npz", + "video": "tube_empty/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000093/left.json", + "scene_id": "tube_empty/scene_000093", + "seed": 23190909, + "shared_state": "tube_empty/scene_000093/shared_state.npz", + "video": "tube_empty/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000093/front.json", + "scene_id": "tube_empty/scene_000093", + "seed": 23190909, + "shared_state": "tube_empty/scene_000093/shared_state.npz", + "video": "tube_empty/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000093/right.json", + "scene_id": "tube_empty/scene_000093", + "seed": 23190909, + "shared_state": "tube_empty/scene_000093/shared_state.npz", + "video": "tube_empty/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000094/left.json", + "scene_id": "tube_empty/scene_000094", + "seed": 23200909, + "shared_state": "tube_empty/scene_000094/shared_state.npz", + "video": "tube_empty/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000094/front.json", + "scene_id": "tube_empty/scene_000094", + "seed": 23200909, + "shared_state": "tube_empty/scene_000094/shared_state.npz", + "video": "tube_empty/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000094/right.json", + "scene_id": "tube_empty/scene_000094", + "seed": 23200909, + "shared_state": "tube_empty/scene_000094/shared_state.npz", + "video": "tube_empty/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000095/left.json", + "scene_id": "tube_empty/scene_000095", + "seed": 23210909, + "shared_state": "tube_empty/scene_000095/shared_state.npz", + "video": "tube_empty/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000095/front.json", + "scene_id": "tube_empty/scene_000095", + "seed": 23210909, + "shared_state": "tube_empty/scene_000095/shared_state.npz", + "video": "tube_empty/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000095/right.json", + "scene_id": "tube_empty/scene_000095", + "seed": 23210909, + "shared_state": "tube_empty/scene_000095/shared_state.npz", + "video": "tube_empty/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000096/left.json", + "scene_id": "tube_empty/scene_000096", + "seed": 23220909, + "shared_state": "tube_empty/scene_000096/shared_state.npz", + "video": "tube_empty/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000096/front.json", + "scene_id": "tube_empty/scene_000096", + "seed": 23220909, + "shared_state": "tube_empty/scene_000096/shared_state.npz", + "video": "tube_empty/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000096/right.json", + "scene_id": "tube_empty/scene_000096", + "seed": 23220909, + "shared_state": "tube_empty/scene_000096/shared_state.npz", + "video": "tube_empty/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000097/left.json", + "scene_id": "tube_empty/scene_000097", + "seed": 23230909, + "shared_state": "tube_empty/scene_000097/shared_state.npz", + "video": "tube_empty/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000097/front.json", + "scene_id": "tube_empty/scene_000097", + "seed": 23230909, + "shared_state": "tube_empty/scene_000097/shared_state.npz", + "video": "tube_empty/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000097/right.json", + "scene_id": "tube_empty/scene_000097", + "seed": 23230909, + "shared_state": "tube_empty/scene_000097/shared_state.npz", + "video": "tube_empty/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000098/left.json", + "scene_id": "tube_empty/scene_000098", + "seed": 23240910, + "shared_state": "tube_empty/scene_000098/shared_state.npz", + "video": "tube_empty/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000098/front.json", + "scene_id": "tube_empty/scene_000098", + "seed": 23240910, + "shared_state": "tube_empty/scene_000098/shared_state.npz", + "video": "tube_empty/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000098/right.json", + "scene_id": "tube_empty/scene_000098", + "seed": 23240910, + "shared_state": "tube_empty/scene_000098/shared_state.npz", + "video": "tube_empty/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000099/left.json", + "scene_id": "tube_empty/scene_000099", + "seed": 23250909, + "shared_state": "tube_empty/scene_000099/shared_state.npz", + "video": "tube_empty/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000099/front.json", + "scene_id": "tube_empty/scene_000099", + "seed": 23250909, + "shared_state": "tube_empty/scene_000099/shared_state.npz", + "video": "tube_empty/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": true, + "metadata": "tube_empty/scene_000099/right.json", + "scene_id": "tube_empty/scene_000099", + "seed": 23250909, + "shared_state": "tube_empty/scene_000099/shared_state.npz", + "video": "tube_empty/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000100/left.json", + "scene_id": "tube_empty/scene_000100", + "seed": 121000000, + "shared_state": "tube_empty/scene_000100/shared_state.npz", + "video": "tube_empty/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000100/front.json", + "scene_id": "tube_empty/scene_000100", + "seed": 121000000, + "shared_state": "tube_empty/scene_000100/shared_state.npz", + "video": "tube_empty/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000100/right.json", + "scene_id": "tube_empty/scene_000100", + "seed": 121000000, + "shared_state": "tube_empty/scene_000100/shared_state.npz", + "video": "tube_empty/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000101/left.json", + "scene_id": "tube_empty/scene_000101", + "seed": 121010000, + "shared_state": "tube_empty/scene_000101/shared_state.npz", + "video": "tube_empty/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000101/front.json", + "scene_id": "tube_empty/scene_000101", + "seed": 121010000, + "shared_state": "tube_empty/scene_000101/shared_state.npz", + "video": "tube_empty/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000101/right.json", + "scene_id": "tube_empty/scene_000101", + "seed": 121010000, + "shared_state": "tube_empty/scene_000101/shared_state.npz", + "video": "tube_empty/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000102/left.json", + "scene_id": "tube_empty/scene_000102", + "seed": 121020000, + "shared_state": "tube_empty/scene_000102/shared_state.npz", + "video": "tube_empty/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000102/front.json", + "scene_id": "tube_empty/scene_000102", + "seed": 121020000, + "shared_state": "tube_empty/scene_000102/shared_state.npz", + "video": "tube_empty/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000102/right.json", + "scene_id": "tube_empty/scene_000102", + "seed": 121020000, + "shared_state": "tube_empty/scene_000102/shared_state.npz", + "video": "tube_empty/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000103/left.json", + "scene_id": "tube_empty/scene_000103", + "seed": 121030000, + "shared_state": "tube_empty/scene_000103/shared_state.npz", + "video": "tube_empty/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000103/front.json", + "scene_id": "tube_empty/scene_000103", + "seed": 121030000, + "shared_state": "tube_empty/scene_000103/shared_state.npz", + "video": "tube_empty/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000103/right.json", + "scene_id": "tube_empty/scene_000103", + "seed": 121030000, + "shared_state": "tube_empty/scene_000103/shared_state.npz", + "video": "tube_empty/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000104/left.json", + "scene_id": "tube_empty/scene_000104", + "seed": 121040000, + "shared_state": "tube_empty/scene_000104/shared_state.npz", + "video": "tube_empty/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000104/front.json", + "scene_id": "tube_empty/scene_000104", + "seed": 121040000, + "shared_state": "tube_empty/scene_000104/shared_state.npz", + "video": "tube_empty/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000104/right.json", + "scene_id": "tube_empty/scene_000104", + "seed": 121040000, + "shared_state": "tube_empty/scene_000104/shared_state.npz", + "video": "tube_empty/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000105/left.json", + "scene_id": "tube_empty/scene_000105", + "seed": 121050000, + "shared_state": "tube_empty/scene_000105/shared_state.npz", + "video": "tube_empty/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000105/front.json", + "scene_id": "tube_empty/scene_000105", + "seed": 121050000, + "shared_state": "tube_empty/scene_000105/shared_state.npz", + "video": "tube_empty/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000105/right.json", + "scene_id": "tube_empty/scene_000105", + "seed": 121050000, + "shared_state": "tube_empty/scene_000105/shared_state.npz", + "video": "tube_empty/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000106/left.json", + "scene_id": "tube_empty/scene_000106", + "seed": 121060000, + "shared_state": "tube_empty/scene_000106/shared_state.npz", + "video": "tube_empty/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000106/front.json", + "scene_id": "tube_empty/scene_000106", + "seed": 121060000, + "shared_state": "tube_empty/scene_000106/shared_state.npz", + "video": "tube_empty/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000106/right.json", + "scene_id": "tube_empty/scene_000106", + "seed": 121060000, + "shared_state": "tube_empty/scene_000106/shared_state.npz", + "video": "tube_empty/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000107/left.json", + "scene_id": "tube_empty/scene_000107", + "seed": 121070000, + "shared_state": "tube_empty/scene_000107/shared_state.npz", + "video": "tube_empty/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000107/front.json", + "scene_id": "tube_empty/scene_000107", + "seed": 121070000, + "shared_state": "tube_empty/scene_000107/shared_state.npz", + "video": "tube_empty/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000107/right.json", + "scene_id": "tube_empty/scene_000107", + "seed": 121070000, + "shared_state": "tube_empty/scene_000107/shared_state.npz", + "video": "tube_empty/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000108/left.json", + "scene_id": "tube_empty/scene_000108", + "seed": 121080000, + "shared_state": "tube_empty/scene_000108/shared_state.npz", + "video": "tube_empty/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000108/front.json", + "scene_id": "tube_empty/scene_000108", + "seed": 121080000, + "shared_state": "tube_empty/scene_000108/shared_state.npz", + "video": "tube_empty/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000108/right.json", + "scene_id": "tube_empty/scene_000108", + "seed": 121080000, + "shared_state": "tube_empty/scene_000108/shared_state.npz", + "video": "tube_empty/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000109/left.json", + "scene_id": "tube_empty/scene_000109", + "seed": 121090000, + "shared_state": "tube_empty/scene_000109/shared_state.npz", + "video": "tube_empty/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000109/front.json", + "scene_id": "tube_empty/scene_000109", + "seed": 121090000, + "shared_state": "tube_empty/scene_000109/shared_state.npz", + "video": "tube_empty/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000109/right.json", + "scene_id": "tube_empty/scene_000109", + "seed": 121090000, + "shared_state": "tube_empty/scene_000109/shared_state.npz", + "video": "tube_empty/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000110/left.json", + "scene_id": "tube_empty/scene_000110", + "seed": 121100000, + "shared_state": "tube_empty/scene_000110/shared_state.npz", + "video": "tube_empty/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000110/front.json", + "scene_id": "tube_empty/scene_000110", + "seed": 121100000, + "shared_state": "tube_empty/scene_000110/shared_state.npz", + "video": "tube_empty/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000110/right.json", + "scene_id": "tube_empty/scene_000110", + "seed": 121100000, + "shared_state": "tube_empty/scene_000110/shared_state.npz", + "video": "tube_empty/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000111/left.json", + "scene_id": "tube_empty/scene_000111", + "seed": 121110000, + "shared_state": "tube_empty/scene_000111/shared_state.npz", + "video": "tube_empty/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000111/front.json", + "scene_id": "tube_empty/scene_000111", + "seed": 121110000, + "shared_state": "tube_empty/scene_000111/shared_state.npz", + "video": "tube_empty/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000111/right.json", + "scene_id": "tube_empty/scene_000111", + "seed": 121110000, + "shared_state": "tube_empty/scene_000111/shared_state.npz", + "video": "tube_empty/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000112/left.json", + "scene_id": "tube_empty/scene_000112", + "seed": 121120001, + "shared_state": "tube_empty/scene_000112/shared_state.npz", + "video": "tube_empty/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000112/front.json", + "scene_id": "tube_empty/scene_000112", + "seed": 121120001, + "shared_state": "tube_empty/scene_000112/shared_state.npz", + "video": "tube_empty/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000112/right.json", + "scene_id": "tube_empty/scene_000112", + "seed": 121120001, + "shared_state": "tube_empty/scene_000112/shared_state.npz", + "video": "tube_empty/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000113/left.json", + "scene_id": "tube_empty/scene_000113", + "seed": 121130000, + "shared_state": "tube_empty/scene_000113/shared_state.npz", + "video": "tube_empty/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000113/front.json", + "scene_id": "tube_empty/scene_000113", + "seed": 121130000, + "shared_state": "tube_empty/scene_000113/shared_state.npz", + "video": "tube_empty/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000113/right.json", + "scene_id": "tube_empty/scene_000113", + "seed": 121130000, + "shared_state": "tube_empty/scene_000113/shared_state.npz", + "video": "tube_empty/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000114/left.json", + "scene_id": "tube_empty/scene_000114", + "seed": 121140000, + "shared_state": "tube_empty/scene_000114/shared_state.npz", + "video": "tube_empty/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000114/front.json", + "scene_id": "tube_empty/scene_000114", + "seed": 121140000, + "shared_state": "tube_empty/scene_000114/shared_state.npz", + "video": "tube_empty/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000114/right.json", + "scene_id": "tube_empty/scene_000114", + "seed": 121140000, + "shared_state": "tube_empty/scene_000114/shared_state.npz", + "video": "tube_empty/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000115/left.json", + "scene_id": "tube_empty/scene_000115", + "seed": 121150000, + "shared_state": "tube_empty/scene_000115/shared_state.npz", + "video": "tube_empty/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000115/front.json", + "scene_id": "tube_empty/scene_000115", + "seed": 121150000, + "shared_state": "tube_empty/scene_000115/shared_state.npz", + "video": "tube_empty/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000115/right.json", + "scene_id": "tube_empty/scene_000115", + "seed": 121150000, + "shared_state": "tube_empty/scene_000115/shared_state.npz", + "video": "tube_empty/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000116/left.json", + "scene_id": "tube_empty/scene_000116", + "seed": 121160000, + "shared_state": "tube_empty/scene_000116/shared_state.npz", + "video": "tube_empty/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000116/front.json", + "scene_id": "tube_empty/scene_000116", + "seed": 121160000, + "shared_state": "tube_empty/scene_000116/shared_state.npz", + "video": "tube_empty/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000116/right.json", + "scene_id": "tube_empty/scene_000116", + "seed": 121160000, + "shared_state": "tube_empty/scene_000116/shared_state.npz", + "video": "tube_empty/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000117/left.json", + "scene_id": "tube_empty/scene_000117", + "seed": 121170000, + "shared_state": "tube_empty/scene_000117/shared_state.npz", + "video": "tube_empty/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000117/front.json", + "scene_id": "tube_empty/scene_000117", + "seed": 121170000, + "shared_state": "tube_empty/scene_000117/shared_state.npz", + "video": "tube_empty/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000117/right.json", + "scene_id": "tube_empty/scene_000117", + "seed": 121170000, + "shared_state": "tube_empty/scene_000117/shared_state.npz", + "video": "tube_empty/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000118/left.json", + "scene_id": "tube_empty/scene_000118", + "seed": 121180000, + "shared_state": "tube_empty/scene_000118/shared_state.npz", + "video": "tube_empty/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000118/front.json", + "scene_id": "tube_empty/scene_000118", + "seed": 121180000, + "shared_state": "tube_empty/scene_000118/shared_state.npz", + "video": "tube_empty/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000118/right.json", + "scene_id": "tube_empty/scene_000118", + "seed": 121180000, + "shared_state": "tube_empty/scene_000118/shared_state.npz", + "video": "tube_empty/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000119/left.json", + "scene_id": "tube_empty/scene_000119", + "seed": 121190000, + "shared_state": "tube_empty/scene_000119/shared_state.npz", + "video": "tube_empty/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000119/front.json", + "scene_id": "tube_empty/scene_000119", + "seed": 121190000, + "shared_state": "tube_empty/scene_000119/shared_state.npz", + "video": "tube_empty/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000119/right.json", + "scene_id": "tube_empty/scene_000119", + "seed": 121190000, + "shared_state": "tube_empty/scene_000119/shared_state.npz", + "video": "tube_empty/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000120/left.json", + "scene_id": "tube_empty/scene_000120", + "seed": 121200000, + "shared_state": "tube_empty/scene_000120/shared_state.npz", + "video": "tube_empty/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000120/front.json", + "scene_id": "tube_empty/scene_000120", + "seed": 121200000, + "shared_state": "tube_empty/scene_000120/shared_state.npz", + "video": "tube_empty/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000120/right.json", + "scene_id": "tube_empty/scene_000120", + "seed": 121200000, + "shared_state": "tube_empty/scene_000120/shared_state.npz", + "video": "tube_empty/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000121/left.json", + "scene_id": "tube_empty/scene_000121", + "seed": 121210000, + "shared_state": "tube_empty/scene_000121/shared_state.npz", + "video": "tube_empty/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000121/front.json", + "scene_id": "tube_empty/scene_000121", + "seed": 121210000, + "shared_state": "tube_empty/scene_000121/shared_state.npz", + "video": "tube_empty/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000121/right.json", + "scene_id": "tube_empty/scene_000121", + "seed": 121210000, + "shared_state": "tube_empty/scene_000121/shared_state.npz", + "video": "tube_empty/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000122/left.json", + "scene_id": "tube_empty/scene_000122", + "seed": 121220000, + "shared_state": "tube_empty/scene_000122/shared_state.npz", + "video": "tube_empty/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000122/front.json", + "scene_id": "tube_empty/scene_000122", + "seed": 121220000, + "shared_state": "tube_empty/scene_000122/shared_state.npz", + "video": "tube_empty/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000122/right.json", + "scene_id": "tube_empty/scene_000122", + "seed": 121220000, + "shared_state": "tube_empty/scene_000122/shared_state.npz", + "video": "tube_empty/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000123/left.json", + "scene_id": "tube_empty/scene_000123", + "seed": 121230000, + "shared_state": "tube_empty/scene_000123/shared_state.npz", + "video": "tube_empty/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000123/front.json", + "scene_id": "tube_empty/scene_000123", + "seed": 121230000, + "shared_state": "tube_empty/scene_000123/shared_state.npz", + "video": "tube_empty/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000123/right.json", + "scene_id": "tube_empty/scene_000123", + "seed": 121230000, + "shared_state": "tube_empty/scene_000123/shared_state.npz", + "video": "tube_empty/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000124/left.json", + "scene_id": "tube_empty/scene_000124", + "seed": 121240000, + "shared_state": "tube_empty/scene_000124/shared_state.npz", + "video": "tube_empty/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000124/front.json", + "scene_id": "tube_empty/scene_000124", + "seed": 121240000, + "shared_state": "tube_empty/scene_000124/shared_state.npz", + "video": "tube_empty/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000124/right.json", + "scene_id": "tube_empty/scene_000124", + "seed": 121240000, + "shared_state": "tube_empty/scene_000124/shared_state.npz", + "video": "tube_empty/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000125/left.json", + "scene_id": "tube_empty/scene_000125", + "seed": 121250000, + "shared_state": "tube_empty/scene_000125/shared_state.npz", + "video": "tube_empty/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000125/front.json", + "scene_id": "tube_empty/scene_000125", + "seed": 121250000, + "shared_state": "tube_empty/scene_000125/shared_state.npz", + "video": "tube_empty/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000125/right.json", + "scene_id": "tube_empty/scene_000125", + "seed": 121250000, + "shared_state": "tube_empty/scene_000125/shared_state.npz", + "video": "tube_empty/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000126/left.json", + "scene_id": "tube_empty/scene_000126", + "seed": 121260000, + "shared_state": "tube_empty/scene_000126/shared_state.npz", + "video": "tube_empty/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000126/front.json", + "scene_id": "tube_empty/scene_000126", + "seed": 121260000, + "shared_state": "tube_empty/scene_000126/shared_state.npz", + "video": "tube_empty/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000126/right.json", + "scene_id": "tube_empty/scene_000126", + "seed": 121260000, + "shared_state": "tube_empty/scene_000126/shared_state.npz", + "video": "tube_empty/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000127/left.json", + "scene_id": "tube_empty/scene_000127", + "seed": 121270000, + "shared_state": "tube_empty/scene_000127/shared_state.npz", + "video": "tube_empty/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000127/front.json", + "scene_id": "tube_empty/scene_000127", + "seed": 121270000, + "shared_state": "tube_empty/scene_000127/shared_state.npz", + "video": "tube_empty/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000127/right.json", + "scene_id": "tube_empty/scene_000127", + "seed": 121270000, + "shared_state": "tube_empty/scene_000127/shared_state.npz", + "video": "tube_empty/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000128/left.json", + "scene_id": "tube_empty/scene_000128", + "seed": 121280000, + "shared_state": "tube_empty/scene_000128/shared_state.npz", + "video": "tube_empty/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000128/front.json", + "scene_id": "tube_empty/scene_000128", + "seed": 121280000, + "shared_state": "tube_empty/scene_000128/shared_state.npz", + "video": "tube_empty/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000128/right.json", + "scene_id": "tube_empty/scene_000128", + "seed": 121280000, + "shared_state": "tube_empty/scene_000128/shared_state.npz", + "video": "tube_empty/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000129/left.json", + "scene_id": "tube_empty/scene_000129", + "seed": 121290000, + "shared_state": "tube_empty/scene_000129/shared_state.npz", + "video": "tube_empty/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000129/front.json", + "scene_id": "tube_empty/scene_000129", + "seed": 121290000, + "shared_state": "tube_empty/scene_000129/shared_state.npz", + "video": "tube_empty/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000129/right.json", + "scene_id": "tube_empty/scene_000129", + "seed": 121290000, + "shared_state": "tube_empty/scene_000129/shared_state.npz", + "video": "tube_empty/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000130/left.json", + "scene_id": "tube_empty/scene_000130", + "seed": 121300000, + "shared_state": "tube_empty/scene_000130/shared_state.npz", + "video": "tube_empty/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000130/front.json", + "scene_id": "tube_empty/scene_000130", + "seed": 121300000, + "shared_state": "tube_empty/scene_000130/shared_state.npz", + "video": "tube_empty/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000130/right.json", + "scene_id": "tube_empty/scene_000130", + "seed": 121300000, + "shared_state": "tube_empty/scene_000130/shared_state.npz", + "video": "tube_empty/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000131/left.json", + "scene_id": "tube_empty/scene_000131", + "seed": 121310000, + "shared_state": "tube_empty/scene_000131/shared_state.npz", + "video": "tube_empty/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000131/front.json", + "scene_id": "tube_empty/scene_000131", + "seed": 121310000, + "shared_state": "tube_empty/scene_000131/shared_state.npz", + "video": "tube_empty/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000131/right.json", + "scene_id": "tube_empty/scene_000131", + "seed": 121310000, + "shared_state": "tube_empty/scene_000131/shared_state.npz", + "video": "tube_empty/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000132/left.json", + "scene_id": "tube_empty/scene_000132", + "seed": 121320000, + "shared_state": "tube_empty/scene_000132/shared_state.npz", + "video": "tube_empty/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000132/front.json", + "scene_id": "tube_empty/scene_000132", + "seed": 121320000, + "shared_state": "tube_empty/scene_000132/shared_state.npz", + "video": "tube_empty/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000132/right.json", + "scene_id": "tube_empty/scene_000132", + "seed": 121320000, + "shared_state": "tube_empty/scene_000132/shared_state.npz", + "video": "tube_empty/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000133/left.json", + "scene_id": "tube_empty/scene_000133", + "seed": 121330000, + "shared_state": "tube_empty/scene_000133/shared_state.npz", + "video": "tube_empty/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000133/front.json", + "scene_id": "tube_empty/scene_000133", + "seed": 121330000, + "shared_state": "tube_empty/scene_000133/shared_state.npz", + "video": "tube_empty/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000133/right.json", + "scene_id": "tube_empty/scene_000133", + "seed": 121330000, + "shared_state": "tube_empty/scene_000133/shared_state.npz", + "video": "tube_empty/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000134/left.json", + "scene_id": "tube_empty/scene_000134", + "seed": 121340000, + "shared_state": "tube_empty/scene_000134/shared_state.npz", + "video": "tube_empty/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000134/front.json", + "scene_id": "tube_empty/scene_000134", + "seed": 121340000, + "shared_state": "tube_empty/scene_000134/shared_state.npz", + "video": "tube_empty/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000134/right.json", + "scene_id": "tube_empty/scene_000134", + "seed": 121340000, + "shared_state": "tube_empty/scene_000134/shared_state.npz", + "video": "tube_empty/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000135/left.json", + "scene_id": "tube_empty/scene_000135", + "seed": 121350000, + "shared_state": "tube_empty/scene_000135/shared_state.npz", + "video": "tube_empty/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000135/front.json", + "scene_id": "tube_empty/scene_000135", + "seed": 121350000, + "shared_state": "tube_empty/scene_000135/shared_state.npz", + "video": "tube_empty/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000135/right.json", + "scene_id": "tube_empty/scene_000135", + "seed": 121350000, + "shared_state": "tube_empty/scene_000135/shared_state.npz", + "video": "tube_empty/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000136/left.json", + "scene_id": "tube_empty/scene_000136", + "seed": 121360000, + "shared_state": "tube_empty/scene_000136/shared_state.npz", + "video": "tube_empty/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000136/front.json", + "scene_id": "tube_empty/scene_000136", + "seed": 121360000, + "shared_state": "tube_empty/scene_000136/shared_state.npz", + "video": "tube_empty/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000136/right.json", + "scene_id": "tube_empty/scene_000136", + "seed": 121360000, + "shared_state": "tube_empty/scene_000136/shared_state.npz", + "video": "tube_empty/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000137/left.json", + "scene_id": "tube_empty/scene_000137", + "seed": 121370000, + "shared_state": "tube_empty/scene_000137/shared_state.npz", + "video": "tube_empty/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000137/front.json", + "scene_id": "tube_empty/scene_000137", + "seed": 121370000, + "shared_state": "tube_empty/scene_000137/shared_state.npz", + "video": "tube_empty/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000137/right.json", + "scene_id": "tube_empty/scene_000137", + "seed": 121370000, + "shared_state": "tube_empty/scene_000137/shared_state.npz", + "video": "tube_empty/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000138/left.json", + "scene_id": "tube_empty/scene_000138", + "seed": 121380000, + "shared_state": "tube_empty/scene_000138/shared_state.npz", + "video": "tube_empty/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000138/front.json", + "scene_id": "tube_empty/scene_000138", + "seed": 121380000, + "shared_state": "tube_empty/scene_000138/shared_state.npz", + "video": "tube_empty/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000138/right.json", + "scene_id": "tube_empty/scene_000138", + "seed": 121380000, + "shared_state": "tube_empty/scene_000138/shared_state.npz", + "video": "tube_empty/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000139/left.json", + "scene_id": "tube_empty/scene_000139", + "seed": 121390000, + "shared_state": "tube_empty/scene_000139/shared_state.npz", + "video": "tube_empty/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000139/front.json", + "scene_id": "tube_empty/scene_000139", + "seed": 121390000, + "shared_state": "tube_empty/scene_000139/shared_state.npz", + "video": "tube_empty/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000139/right.json", + "scene_id": "tube_empty/scene_000139", + "seed": 121390000, + "shared_state": "tube_empty/scene_000139/shared_state.npz", + "video": "tube_empty/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000140/left.json", + "scene_id": "tube_empty/scene_000140", + "seed": 121400000, + "shared_state": "tube_empty/scene_000140/shared_state.npz", + "video": "tube_empty/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000140/front.json", + "scene_id": "tube_empty/scene_000140", + "seed": 121400000, + "shared_state": "tube_empty/scene_000140/shared_state.npz", + "video": "tube_empty/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000140/right.json", + "scene_id": "tube_empty/scene_000140", + "seed": 121400000, + "shared_state": "tube_empty/scene_000140/shared_state.npz", + "video": "tube_empty/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000141/left.json", + "scene_id": "tube_empty/scene_000141", + "seed": 121410000, + "shared_state": "tube_empty/scene_000141/shared_state.npz", + "video": "tube_empty/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000141/front.json", + "scene_id": "tube_empty/scene_000141", + "seed": 121410000, + "shared_state": "tube_empty/scene_000141/shared_state.npz", + "video": "tube_empty/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000141/right.json", + "scene_id": "tube_empty/scene_000141", + "seed": 121410000, + "shared_state": "tube_empty/scene_000141/shared_state.npz", + "video": "tube_empty/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000142/left.json", + "scene_id": "tube_empty/scene_000142", + "seed": 121420000, + "shared_state": "tube_empty/scene_000142/shared_state.npz", + "video": "tube_empty/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000142/front.json", + "scene_id": "tube_empty/scene_000142", + "seed": 121420000, + "shared_state": "tube_empty/scene_000142/shared_state.npz", + "video": "tube_empty/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000142/right.json", + "scene_id": "tube_empty/scene_000142", + "seed": 121420000, + "shared_state": "tube_empty/scene_000142/shared_state.npz", + "video": "tube_empty/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000143/left.json", + "scene_id": "tube_empty/scene_000143", + "seed": 121430000, + "shared_state": "tube_empty/scene_000143/shared_state.npz", + "video": "tube_empty/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000143/front.json", + "scene_id": "tube_empty/scene_000143", + "seed": 121430000, + "shared_state": "tube_empty/scene_000143/shared_state.npz", + "video": "tube_empty/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000143/right.json", + "scene_id": "tube_empty/scene_000143", + "seed": 121430000, + "shared_state": "tube_empty/scene_000143/shared_state.npz", + "video": "tube_empty/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000144/left.json", + "scene_id": "tube_empty/scene_000144", + "seed": 121440000, + "shared_state": "tube_empty/scene_000144/shared_state.npz", + "video": "tube_empty/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000144/front.json", + "scene_id": "tube_empty/scene_000144", + "seed": 121440000, + "shared_state": "tube_empty/scene_000144/shared_state.npz", + "video": "tube_empty/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000144/right.json", + "scene_id": "tube_empty/scene_000144", + "seed": 121440000, + "shared_state": "tube_empty/scene_000144/shared_state.npz", + "video": "tube_empty/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000145/left.json", + "scene_id": "tube_empty/scene_000145", + "seed": 121450000, + "shared_state": "tube_empty/scene_000145/shared_state.npz", + "video": "tube_empty/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000145/front.json", + "scene_id": "tube_empty/scene_000145", + "seed": 121450000, + "shared_state": "tube_empty/scene_000145/shared_state.npz", + "video": "tube_empty/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000145/right.json", + "scene_id": "tube_empty/scene_000145", + "seed": 121450000, + "shared_state": "tube_empty/scene_000145/shared_state.npz", + "video": "tube_empty/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000146/left.json", + "scene_id": "tube_empty/scene_000146", + "seed": 121460000, + "shared_state": "tube_empty/scene_000146/shared_state.npz", + "video": "tube_empty/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000146/front.json", + "scene_id": "tube_empty/scene_000146", + "seed": 121460000, + "shared_state": "tube_empty/scene_000146/shared_state.npz", + "video": "tube_empty/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000146/right.json", + "scene_id": "tube_empty/scene_000146", + "seed": 121460000, + "shared_state": "tube_empty/scene_000146/shared_state.npz", + "video": "tube_empty/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000147/left.json", + "scene_id": "tube_empty/scene_000147", + "seed": 121470000, + "shared_state": "tube_empty/scene_000147/shared_state.npz", + "video": "tube_empty/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000147/front.json", + "scene_id": "tube_empty/scene_000147", + "seed": 121470000, + "shared_state": "tube_empty/scene_000147/shared_state.npz", + "video": "tube_empty/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000147/right.json", + "scene_id": "tube_empty/scene_000147", + "seed": 121470000, + "shared_state": "tube_empty/scene_000147/shared_state.npz", + "video": "tube_empty/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000148/left.json", + "scene_id": "tube_empty/scene_000148", + "seed": 121480000, + "shared_state": "tube_empty/scene_000148/shared_state.npz", + "video": "tube_empty/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000148/front.json", + "scene_id": "tube_empty/scene_000148", + "seed": 121480000, + "shared_state": "tube_empty/scene_000148/shared_state.npz", + "video": "tube_empty/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000148/right.json", + "scene_id": "tube_empty/scene_000148", + "seed": 121480000, + "shared_state": "tube_empty/scene_000148/shared_state.npz", + "video": "tube_empty/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000149/left.json", + "scene_id": "tube_empty/scene_000149", + "seed": 121490000, + "shared_state": "tube_empty/scene_000149/shared_state.npz", + "video": "tube_empty/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000149/front.json", + "scene_id": "tube_empty/scene_000149", + "seed": 121490000, + "shared_state": "tube_empty/scene_000149/shared_state.npz", + "video": "tube_empty/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000149/right.json", + "scene_id": "tube_empty/scene_000149", + "seed": 121490000, + "shared_state": "tube_empty/scene_000149/shared_state.npz", + "video": "tube_empty/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000150/left.json", + "scene_id": "tube_empty/scene_000150", + "seed": 121500000, + "shared_state": "tube_empty/scene_000150/shared_state.npz", + "video": "tube_empty/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000150/front.json", + "scene_id": "tube_empty/scene_000150", + "seed": 121500000, + "shared_state": "tube_empty/scene_000150/shared_state.npz", + "video": "tube_empty/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000150/right.json", + "scene_id": "tube_empty/scene_000150", + "seed": 121500000, + "shared_state": "tube_empty/scene_000150/shared_state.npz", + "video": "tube_empty/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000151/left.json", + "scene_id": "tube_empty/scene_000151", + "seed": 121510000, + "shared_state": "tube_empty/scene_000151/shared_state.npz", + "video": "tube_empty/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000151/front.json", + "scene_id": "tube_empty/scene_000151", + "seed": 121510000, + "shared_state": "tube_empty/scene_000151/shared_state.npz", + "video": "tube_empty/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000151/right.json", + "scene_id": "tube_empty/scene_000151", + "seed": 121510000, + "shared_state": "tube_empty/scene_000151/shared_state.npz", + "video": "tube_empty/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000152/left.json", + "scene_id": "tube_empty/scene_000152", + "seed": 121520000, + "shared_state": "tube_empty/scene_000152/shared_state.npz", + "video": "tube_empty/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000152/front.json", + "scene_id": "tube_empty/scene_000152", + "seed": 121520000, + "shared_state": "tube_empty/scene_000152/shared_state.npz", + "video": "tube_empty/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000152/right.json", + "scene_id": "tube_empty/scene_000152", + "seed": 121520000, + "shared_state": "tube_empty/scene_000152/shared_state.npz", + "video": "tube_empty/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000153/left.json", + "scene_id": "tube_empty/scene_000153", + "seed": 121530000, + "shared_state": "tube_empty/scene_000153/shared_state.npz", + "video": "tube_empty/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000153/front.json", + "scene_id": "tube_empty/scene_000153", + "seed": 121530000, + "shared_state": "tube_empty/scene_000153/shared_state.npz", + "video": "tube_empty/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000153/right.json", + "scene_id": "tube_empty/scene_000153", + "seed": 121530000, + "shared_state": "tube_empty/scene_000153/shared_state.npz", + "video": "tube_empty/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000154/left.json", + "scene_id": "tube_empty/scene_000154", + "seed": 121540000, + "shared_state": "tube_empty/scene_000154/shared_state.npz", + "video": "tube_empty/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000154/front.json", + "scene_id": "tube_empty/scene_000154", + "seed": 121540000, + "shared_state": "tube_empty/scene_000154/shared_state.npz", + "video": "tube_empty/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000154/right.json", + "scene_id": "tube_empty/scene_000154", + "seed": 121540000, + "shared_state": "tube_empty/scene_000154/shared_state.npz", + "video": "tube_empty/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000155/left.json", + "scene_id": "tube_empty/scene_000155", + "seed": 121550000, + "shared_state": "tube_empty/scene_000155/shared_state.npz", + "video": "tube_empty/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000155/front.json", + "scene_id": "tube_empty/scene_000155", + "seed": 121550000, + "shared_state": "tube_empty/scene_000155/shared_state.npz", + "video": "tube_empty/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000155/right.json", + "scene_id": "tube_empty/scene_000155", + "seed": 121550000, + "shared_state": "tube_empty/scene_000155/shared_state.npz", + "video": "tube_empty/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000156/left.json", + "scene_id": "tube_empty/scene_000156", + "seed": 121560000, + "shared_state": "tube_empty/scene_000156/shared_state.npz", + "video": "tube_empty/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000156/front.json", + "scene_id": "tube_empty/scene_000156", + "seed": 121560000, + "shared_state": "tube_empty/scene_000156/shared_state.npz", + "video": "tube_empty/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000156/right.json", + "scene_id": "tube_empty/scene_000156", + "seed": 121560000, + "shared_state": "tube_empty/scene_000156/shared_state.npz", + "video": "tube_empty/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000157/left.json", + "scene_id": "tube_empty/scene_000157", + "seed": 121570000, + "shared_state": "tube_empty/scene_000157/shared_state.npz", + "video": "tube_empty/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000157/front.json", + "scene_id": "tube_empty/scene_000157", + "seed": 121570000, + "shared_state": "tube_empty/scene_000157/shared_state.npz", + "video": "tube_empty/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000157/right.json", + "scene_id": "tube_empty/scene_000157", + "seed": 121570000, + "shared_state": "tube_empty/scene_000157/shared_state.npz", + "video": "tube_empty/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000158/left.json", + "scene_id": "tube_empty/scene_000158", + "seed": 121580000, + "shared_state": "tube_empty/scene_000158/shared_state.npz", + "video": "tube_empty/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000158/front.json", + "scene_id": "tube_empty/scene_000158", + "seed": 121580000, + "shared_state": "tube_empty/scene_000158/shared_state.npz", + "video": "tube_empty/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000158/right.json", + "scene_id": "tube_empty/scene_000158", + "seed": 121580000, + "shared_state": "tube_empty/scene_000158/shared_state.npz", + "video": "tube_empty/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000159/left.json", + "scene_id": "tube_empty/scene_000159", + "seed": 121590000, + "shared_state": "tube_empty/scene_000159/shared_state.npz", + "video": "tube_empty/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000159/front.json", + "scene_id": "tube_empty/scene_000159", + "seed": 121590000, + "shared_state": "tube_empty/scene_000159/shared_state.npz", + "video": "tube_empty/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000159/right.json", + "scene_id": "tube_empty/scene_000159", + "seed": 121590000, + "shared_state": "tube_empty/scene_000159/shared_state.npz", + "video": "tube_empty/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000160/left.json", + "scene_id": "tube_empty/scene_000160", + "seed": 121600000, + "shared_state": "tube_empty/scene_000160/shared_state.npz", + "video": "tube_empty/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000160/front.json", + "scene_id": "tube_empty/scene_000160", + "seed": 121600000, + "shared_state": "tube_empty/scene_000160/shared_state.npz", + "video": "tube_empty/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000160/right.json", + "scene_id": "tube_empty/scene_000160", + "seed": 121600000, + "shared_state": "tube_empty/scene_000160/shared_state.npz", + "video": "tube_empty/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000161/left.json", + "scene_id": "tube_empty/scene_000161", + "seed": 121610000, + "shared_state": "tube_empty/scene_000161/shared_state.npz", + "video": "tube_empty/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000161/front.json", + "scene_id": "tube_empty/scene_000161", + "seed": 121610000, + "shared_state": "tube_empty/scene_000161/shared_state.npz", + "video": "tube_empty/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000161/right.json", + "scene_id": "tube_empty/scene_000161", + "seed": 121610000, + "shared_state": "tube_empty/scene_000161/shared_state.npz", + "video": "tube_empty/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000162/left.json", + "scene_id": "tube_empty/scene_000162", + "seed": 121620000, + "shared_state": "tube_empty/scene_000162/shared_state.npz", + "video": "tube_empty/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000162/front.json", + "scene_id": "tube_empty/scene_000162", + "seed": 121620000, + "shared_state": "tube_empty/scene_000162/shared_state.npz", + "video": "tube_empty/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000162/right.json", + "scene_id": "tube_empty/scene_000162", + "seed": 121620000, + "shared_state": "tube_empty/scene_000162/shared_state.npz", + "video": "tube_empty/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000163/left.json", + "scene_id": "tube_empty/scene_000163", + "seed": 121630000, + "shared_state": "tube_empty/scene_000163/shared_state.npz", + "video": "tube_empty/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000163/front.json", + "scene_id": "tube_empty/scene_000163", + "seed": 121630000, + "shared_state": "tube_empty/scene_000163/shared_state.npz", + "video": "tube_empty/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000163/right.json", + "scene_id": "tube_empty/scene_000163", + "seed": 121630000, + "shared_state": "tube_empty/scene_000163/shared_state.npz", + "video": "tube_empty/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000164/left.json", + "scene_id": "tube_empty/scene_000164", + "seed": 121640000, + "shared_state": "tube_empty/scene_000164/shared_state.npz", + "video": "tube_empty/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000164/front.json", + "scene_id": "tube_empty/scene_000164", + "seed": 121640000, + "shared_state": "tube_empty/scene_000164/shared_state.npz", + "video": "tube_empty/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000164/right.json", + "scene_id": "tube_empty/scene_000164", + "seed": 121640000, + "shared_state": "tube_empty/scene_000164/shared_state.npz", + "video": "tube_empty/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000165/left.json", + "scene_id": "tube_empty/scene_000165", + "seed": 121650000, + "shared_state": "tube_empty/scene_000165/shared_state.npz", + "video": "tube_empty/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000165/front.json", + "scene_id": "tube_empty/scene_000165", + "seed": 121650000, + "shared_state": "tube_empty/scene_000165/shared_state.npz", + "video": "tube_empty/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000165/right.json", + "scene_id": "tube_empty/scene_000165", + "seed": 121650000, + "shared_state": "tube_empty/scene_000165/shared_state.npz", + "video": "tube_empty/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000166/left.json", + "scene_id": "tube_empty/scene_000166", + "seed": 121660000, + "shared_state": "tube_empty/scene_000166/shared_state.npz", + "video": "tube_empty/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000166/front.json", + "scene_id": "tube_empty/scene_000166", + "seed": 121660000, + "shared_state": "tube_empty/scene_000166/shared_state.npz", + "video": "tube_empty/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000166/right.json", + "scene_id": "tube_empty/scene_000166", + "seed": 121660000, + "shared_state": "tube_empty/scene_000166/shared_state.npz", + "video": "tube_empty/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000167/left.json", + "scene_id": "tube_empty/scene_000167", + "seed": 121670000, + "shared_state": "tube_empty/scene_000167/shared_state.npz", + "video": "tube_empty/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000167/front.json", + "scene_id": "tube_empty/scene_000167", + "seed": 121670000, + "shared_state": "tube_empty/scene_000167/shared_state.npz", + "video": "tube_empty/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000167/right.json", + "scene_id": "tube_empty/scene_000167", + "seed": 121670000, + "shared_state": "tube_empty/scene_000167/shared_state.npz", + "video": "tube_empty/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000168/left.json", + "scene_id": "tube_empty/scene_000168", + "seed": 121680000, + "shared_state": "tube_empty/scene_000168/shared_state.npz", + "video": "tube_empty/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000168/front.json", + "scene_id": "tube_empty/scene_000168", + "seed": 121680000, + "shared_state": "tube_empty/scene_000168/shared_state.npz", + "video": "tube_empty/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000168/right.json", + "scene_id": "tube_empty/scene_000168", + "seed": 121680000, + "shared_state": "tube_empty/scene_000168/shared_state.npz", + "video": "tube_empty/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000169/left.json", + "scene_id": "tube_empty/scene_000169", + "seed": 121690000, + "shared_state": "tube_empty/scene_000169/shared_state.npz", + "video": "tube_empty/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000169/front.json", + "scene_id": "tube_empty/scene_000169", + "seed": 121690000, + "shared_state": "tube_empty/scene_000169/shared_state.npz", + "video": "tube_empty/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000169/right.json", + "scene_id": "tube_empty/scene_000169", + "seed": 121690000, + "shared_state": "tube_empty/scene_000169/shared_state.npz", + "video": "tube_empty/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000170/left.json", + "scene_id": "tube_empty/scene_000170", + "seed": 121700000, + "shared_state": "tube_empty/scene_000170/shared_state.npz", + "video": "tube_empty/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000170/front.json", + "scene_id": "tube_empty/scene_000170", + "seed": 121700000, + "shared_state": "tube_empty/scene_000170/shared_state.npz", + "video": "tube_empty/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000170/right.json", + "scene_id": "tube_empty/scene_000170", + "seed": 121700000, + "shared_state": "tube_empty/scene_000170/shared_state.npz", + "video": "tube_empty/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000171/left.json", + "scene_id": "tube_empty/scene_000171", + "seed": 121710000, + "shared_state": "tube_empty/scene_000171/shared_state.npz", + "video": "tube_empty/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000171/front.json", + "scene_id": "tube_empty/scene_000171", + "seed": 121710000, + "shared_state": "tube_empty/scene_000171/shared_state.npz", + "video": "tube_empty/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000171/right.json", + "scene_id": "tube_empty/scene_000171", + "seed": 121710000, + "shared_state": "tube_empty/scene_000171/shared_state.npz", + "video": "tube_empty/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000172/left.json", + "scene_id": "tube_empty/scene_000172", + "seed": 121720000, + "shared_state": "tube_empty/scene_000172/shared_state.npz", + "video": "tube_empty/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000172/front.json", + "scene_id": "tube_empty/scene_000172", + "seed": 121720000, + "shared_state": "tube_empty/scene_000172/shared_state.npz", + "video": "tube_empty/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000172/right.json", + "scene_id": "tube_empty/scene_000172", + "seed": 121720000, + "shared_state": "tube_empty/scene_000172/shared_state.npz", + "video": "tube_empty/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000173/left.json", + "scene_id": "tube_empty/scene_000173", + "seed": 121730000, + "shared_state": "tube_empty/scene_000173/shared_state.npz", + "video": "tube_empty/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000173/front.json", + "scene_id": "tube_empty/scene_000173", + "seed": 121730000, + "shared_state": "tube_empty/scene_000173/shared_state.npz", + "video": "tube_empty/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000173/right.json", + "scene_id": "tube_empty/scene_000173", + "seed": 121730000, + "shared_state": "tube_empty/scene_000173/shared_state.npz", + "video": "tube_empty/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000174/left.json", + "scene_id": "tube_empty/scene_000174", + "seed": 121740000, + "shared_state": "tube_empty/scene_000174/shared_state.npz", + "video": "tube_empty/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000174/front.json", + "scene_id": "tube_empty/scene_000174", + "seed": 121740000, + "shared_state": "tube_empty/scene_000174/shared_state.npz", + "video": "tube_empty/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000174/right.json", + "scene_id": "tube_empty/scene_000174", + "seed": 121740000, + "shared_state": "tube_empty/scene_000174/shared_state.npz", + "video": "tube_empty/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000175/left.json", + "scene_id": "tube_empty/scene_000175", + "seed": 121750000, + "shared_state": "tube_empty/scene_000175/shared_state.npz", + "video": "tube_empty/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000175/front.json", + "scene_id": "tube_empty/scene_000175", + "seed": 121750000, + "shared_state": "tube_empty/scene_000175/shared_state.npz", + "video": "tube_empty/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000175/right.json", + "scene_id": "tube_empty/scene_000175", + "seed": 121750000, + "shared_state": "tube_empty/scene_000175/shared_state.npz", + "video": "tube_empty/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000176/left.json", + "scene_id": "tube_empty/scene_000176", + "seed": 121760000, + "shared_state": "tube_empty/scene_000176/shared_state.npz", + "video": "tube_empty/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000176/front.json", + "scene_id": "tube_empty/scene_000176", + "seed": 121760000, + "shared_state": "tube_empty/scene_000176/shared_state.npz", + "video": "tube_empty/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000176/right.json", + "scene_id": "tube_empty/scene_000176", + "seed": 121760000, + "shared_state": "tube_empty/scene_000176/shared_state.npz", + "video": "tube_empty/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000177/left.json", + "scene_id": "tube_empty/scene_000177", + "seed": 121770000, + "shared_state": "tube_empty/scene_000177/shared_state.npz", + "video": "tube_empty/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000177/front.json", + "scene_id": "tube_empty/scene_000177", + "seed": 121770000, + "shared_state": "tube_empty/scene_000177/shared_state.npz", + "video": "tube_empty/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000177/right.json", + "scene_id": "tube_empty/scene_000177", + "seed": 121770000, + "shared_state": "tube_empty/scene_000177/shared_state.npz", + "video": "tube_empty/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000178/left.json", + "scene_id": "tube_empty/scene_000178", + "seed": 121780000, + "shared_state": "tube_empty/scene_000178/shared_state.npz", + "video": "tube_empty/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000178/front.json", + "scene_id": "tube_empty/scene_000178", + "seed": 121780000, + "shared_state": "tube_empty/scene_000178/shared_state.npz", + "video": "tube_empty/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000178/right.json", + "scene_id": "tube_empty/scene_000178", + "seed": 121780000, + "shared_state": "tube_empty/scene_000178/shared_state.npz", + "video": "tube_empty/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000179/left.json", + "scene_id": "tube_empty/scene_000179", + "seed": 121790000, + "shared_state": "tube_empty/scene_000179/shared_state.npz", + "video": "tube_empty/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000179/front.json", + "scene_id": "tube_empty/scene_000179", + "seed": 121790000, + "shared_state": "tube_empty/scene_000179/shared_state.npz", + "video": "tube_empty/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000179/right.json", + "scene_id": "tube_empty/scene_000179", + "seed": 121790000, + "shared_state": "tube_empty/scene_000179/shared_state.npz", + "video": "tube_empty/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000180/left.json", + "scene_id": "tube_empty/scene_000180", + "seed": 121800000, + "shared_state": "tube_empty/scene_000180/shared_state.npz", + "video": "tube_empty/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000180/front.json", + "scene_id": "tube_empty/scene_000180", + "seed": 121800000, + "shared_state": "tube_empty/scene_000180/shared_state.npz", + "video": "tube_empty/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000180/right.json", + "scene_id": "tube_empty/scene_000180", + "seed": 121800000, + "shared_state": "tube_empty/scene_000180/shared_state.npz", + "video": "tube_empty/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000181/left.json", + "scene_id": "tube_empty/scene_000181", + "seed": 121810000, + "shared_state": "tube_empty/scene_000181/shared_state.npz", + "video": "tube_empty/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000181/front.json", + "scene_id": "tube_empty/scene_000181", + "seed": 121810000, + "shared_state": "tube_empty/scene_000181/shared_state.npz", + "video": "tube_empty/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000181/right.json", + "scene_id": "tube_empty/scene_000181", + "seed": 121810000, + "shared_state": "tube_empty/scene_000181/shared_state.npz", + "video": "tube_empty/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000182/left.json", + "scene_id": "tube_empty/scene_000182", + "seed": 121820000, + "shared_state": "tube_empty/scene_000182/shared_state.npz", + "video": "tube_empty/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000182/front.json", + "scene_id": "tube_empty/scene_000182", + "seed": 121820000, + "shared_state": "tube_empty/scene_000182/shared_state.npz", + "video": "tube_empty/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000182/right.json", + "scene_id": "tube_empty/scene_000182", + "seed": 121820000, + "shared_state": "tube_empty/scene_000182/shared_state.npz", + "video": "tube_empty/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000183/left.json", + "scene_id": "tube_empty/scene_000183", + "seed": 121830000, + "shared_state": "tube_empty/scene_000183/shared_state.npz", + "video": "tube_empty/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000183/front.json", + "scene_id": "tube_empty/scene_000183", + "seed": 121830000, + "shared_state": "tube_empty/scene_000183/shared_state.npz", + "video": "tube_empty/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000183/right.json", + "scene_id": "tube_empty/scene_000183", + "seed": 121830000, + "shared_state": "tube_empty/scene_000183/shared_state.npz", + "video": "tube_empty/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000184/left.json", + "scene_id": "tube_empty/scene_000184", + "seed": 121840000, + "shared_state": "tube_empty/scene_000184/shared_state.npz", + "video": "tube_empty/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000184/front.json", + "scene_id": "tube_empty/scene_000184", + "seed": 121840000, + "shared_state": "tube_empty/scene_000184/shared_state.npz", + "video": "tube_empty/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000184/right.json", + "scene_id": "tube_empty/scene_000184", + "seed": 121840000, + "shared_state": "tube_empty/scene_000184/shared_state.npz", + "video": "tube_empty/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000185/left.json", + "scene_id": "tube_empty/scene_000185", + "seed": 121850000, + "shared_state": "tube_empty/scene_000185/shared_state.npz", + "video": "tube_empty/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000185/front.json", + "scene_id": "tube_empty/scene_000185", + "seed": 121850000, + "shared_state": "tube_empty/scene_000185/shared_state.npz", + "video": "tube_empty/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000185/right.json", + "scene_id": "tube_empty/scene_000185", + "seed": 121850000, + "shared_state": "tube_empty/scene_000185/shared_state.npz", + "video": "tube_empty/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000186/left.json", + "scene_id": "tube_empty/scene_000186", + "seed": 121860000, + "shared_state": "tube_empty/scene_000186/shared_state.npz", + "video": "tube_empty/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000186/front.json", + "scene_id": "tube_empty/scene_000186", + "seed": 121860000, + "shared_state": "tube_empty/scene_000186/shared_state.npz", + "video": "tube_empty/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000186/right.json", + "scene_id": "tube_empty/scene_000186", + "seed": 121860000, + "shared_state": "tube_empty/scene_000186/shared_state.npz", + "video": "tube_empty/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000187/left.json", + "scene_id": "tube_empty/scene_000187", + "seed": 121870000, + "shared_state": "tube_empty/scene_000187/shared_state.npz", + "video": "tube_empty/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000187/front.json", + "scene_id": "tube_empty/scene_000187", + "seed": 121870000, + "shared_state": "tube_empty/scene_000187/shared_state.npz", + "video": "tube_empty/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000187/right.json", + "scene_id": "tube_empty/scene_000187", + "seed": 121870000, + "shared_state": "tube_empty/scene_000187/shared_state.npz", + "video": "tube_empty/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000188/left.json", + "scene_id": "tube_empty/scene_000188", + "seed": 121880000, + "shared_state": "tube_empty/scene_000188/shared_state.npz", + "video": "tube_empty/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000188/front.json", + "scene_id": "tube_empty/scene_000188", + "seed": 121880000, + "shared_state": "tube_empty/scene_000188/shared_state.npz", + "video": "tube_empty/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000188/right.json", + "scene_id": "tube_empty/scene_000188", + "seed": 121880000, + "shared_state": "tube_empty/scene_000188/shared_state.npz", + "video": "tube_empty/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000189/left.json", + "scene_id": "tube_empty/scene_000189", + "seed": 121890000, + "shared_state": "tube_empty/scene_000189/shared_state.npz", + "video": "tube_empty/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000189/front.json", + "scene_id": "tube_empty/scene_000189", + "seed": 121890000, + "shared_state": "tube_empty/scene_000189/shared_state.npz", + "video": "tube_empty/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000189/right.json", + "scene_id": "tube_empty/scene_000189", + "seed": 121890000, + "shared_state": "tube_empty/scene_000189/shared_state.npz", + "video": "tube_empty/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000190/left.json", + "scene_id": "tube_empty/scene_000190", + "seed": 121900000, + "shared_state": "tube_empty/scene_000190/shared_state.npz", + "video": "tube_empty/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000190/front.json", + "scene_id": "tube_empty/scene_000190", + "seed": 121900000, + "shared_state": "tube_empty/scene_000190/shared_state.npz", + "video": "tube_empty/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000190/right.json", + "scene_id": "tube_empty/scene_000190", + "seed": 121900000, + "shared_state": "tube_empty/scene_000190/shared_state.npz", + "video": "tube_empty/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000191/left.json", + "scene_id": "tube_empty/scene_000191", + "seed": 121910000, + "shared_state": "tube_empty/scene_000191/shared_state.npz", + "video": "tube_empty/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000191/front.json", + "scene_id": "tube_empty/scene_000191", + "seed": 121910000, + "shared_state": "tube_empty/scene_000191/shared_state.npz", + "video": "tube_empty/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000191/right.json", + "scene_id": "tube_empty/scene_000191", + "seed": 121910000, + "shared_state": "tube_empty/scene_000191/shared_state.npz", + "video": "tube_empty/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000192/left.json", + "scene_id": "tube_empty/scene_000192", + "seed": 121920000, + "shared_state": "tube_empty/scene_000192/shared_state.npz", + "video": "tube_empty/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000192/front.json", + "scene_id": "tube_empty/scene_000192", + "seed": 121920000, + "shared_state": "tube_empty/scene_000192/shared_state.npz", + "video": "tube_empty/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000192/right.json", + "scene_id": "tube_empty/scene_000192", + "seed": 121920000, + "shared_state": "tube_empty/scene_000192/shared_state.npz", + "video": "tube_empty/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000193/left.json", + "scene_id": "tube_empty/scene_000193", + "seed": 121930000, + "shared_state": "tube_empty/scene_000193/shared_state.npz", + "video": "tube_empty/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000193/front.json", + "scene_id": "tube_empty/scene_000193", + "seed": 121930000, + "shared_state": "tube_empty/scene_000193/shared_state.npz", + "video": "tube_empty/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000193/right.json", + "scene_id": "tube_empty/scene_000193", + "seed": 121930000, + "shared_state": "tube_empty/scene_000193/shared_state.npz", + "video": "tube_empty/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000194/left.json", + "scene_id": "tube_empty/scene_000194", + "seed": 121940000, + "shared_state": "tube_empty/scene_000194/shared_state.npz", + "video": "tube_empty/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000194/front.json", + "scene_id": "tube_empty/scene_000194", + "seed": 121940000, + "shared_state": "tube_empty/scene_000194/shared_state.npz", + "video": "tube_empty/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000194/right.json", + "scene_id": "tube_empty/scene_000194", + "seed": 121940000, + "shared_state": "tube_empty/scene_000194/shared_state.npz", + "video": "tube_empty/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000195/left.json", + "scene_id": "tube_empty/scene_000195", + "seed": 121950000, + "shared_state": "tube_empty/scene_000195/shared_state.npz", + "video": "tube_empty/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000195/front.json", + "scene_id": "tube_empty/scene_000195", + "seed": 121950000, + "shared_state": "tube_empty/scene_000195/shared_state.npz", + "video": "tube_empty/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000195/right.json", + "scene_id": "tube_empty/scene_000195", + "seed": 121950000, + "shared_state": "tube_empty/scene_000195/shared_state.npz", + "video": "tube_empty/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000196/left.json", + "scene_id": "tube_empty/scene_000196", + "seed": 121960000, + "shared_state": "tube_empty/scene_000196/shared_state.npz", + "video": "tube_empty/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000196/front.json", + "scene_id": "tube_empty/scene_000196", + "seed": 121960000, + "shared_state": "tube_empty/scene_000196/shared_state.npz", + "video": "tube_empty/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000196/right.json", + "scene_id": "tube_empty/scene_000196", + "seed": 121960000, + "shared_state": "tube_empty/scene_000196/shared_state.npz", + "video": "tube_empty/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000197/left.json", + "scene_id": "tube_empty/scene_000197", + "seed": 121970000, + "shared_state": "tube_empty/scene_000197/shared_state.npz", + "video": "tube_empty/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000197/front.json", + "scene_id": "tube_empty/scene_000197", + "seed": 121970000, + "shared_state": "tube_empty/scene_000197/shared_state.npz", + "video": "tube_empty/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000197/right.json", + "scene_id": "tube_empty/scene_000197", + "seed": 121970000, + "shared_state": "tube_empty/scene_000197/shared_state.npz", + "video": "tube_empty/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000198/left.json", + "scene_id": "tube_empty/scene_000198", + "seed": 121980000, + "shared_state": "tube_empty/scene_000198/shared_state.npz", + "video": "tube_empty/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000198/front.json", + "scene_id": "tube_empty/scene_000198", + "seed": 121980000, + "shared_state": "tube_empty/scene_000198/shared_state.npz", + "video": "tube_empty/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000198/right.json", + "scene_id": "tube_empty/scene_000198", + "seed": 121980000, + "shared_state": "tube_empty/scene_000198/shared_state.npz", + "video": "tube_empty/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000199/left.json", + "scene_id": "tube_empty/scene_000199", + "seed": 121990000, + "shared_state": "tube_empty/scene_000199/shared_state.npz", + "video": "tube_empty/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000199/front.json", + "scene_id": "tube_empty/scene_000199", + "seed": 121990000, + "shared_state": "tube_empty/scene_000199/shared_state.npz", + "video": "tube_empty/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000199/right.json", + "scene_id": "tube_empty/scene_000199", + "seed": 121990000, + "shared_state": "tube_empty/scene_000199/shared_state.npz", + "video": "tube_empty/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000200/left.json", + "scene_id": "tube_empty/scene_000200", + "seed": 122000000, + "shared_state": "tube_empty/scene_000200/shared_state.npz", + "video": "tube_empty/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000200/front.json", + "scene_id": "tube_empty/scene_000200", + "seed": 122000000, + "shared_state": "tube_empty/scene_000200/shared_state.npz", + "video": "tube_empty/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000200/right.json", + "scene_id": "tube_empty/scene_000200", + "seed": 122000000, + "shared_state": "tube_empty/scene_000200/shared_state.npz", + "video": "tube_empty/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000201/left.json", + "scene_id": "tube_empty/scene_000201", + "seed": 122010000, + "shared_state": "tube_empty/scene_000201/shared_state.npz", + "video": "tube_empty/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000201/front.json", + "scene_id": "tube_empty/scene_000201", + "seed": 122010000, + "shared_state": "tube_empty/scene_000201/shared_state.npz", + "video": "tube_empty/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000201/right.json", + "scene_id": "tube_empty/scene_000201", + "seed": 122010000, + "shared_state": "tube_empty/scene_000201/shared_state.npz", + "video": "tube_empty/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000202/left.json", + "scene_id": "tube_empty/scene_000202", + "seed": 122020000, + "shared_state": "tube_empty/scene_000202/shared_state.npz", + "video": "tube_empty/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000202/front.json", + "scene_id": "tube_empty/scene_000202", + "seed": 122020000, + "shared_state": "tube_empty/scene_000202/shared_state.npz", + "video": "tube_empty/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000202/right.json", + "scene_id": "tube_empty/scene_000202", + "seed": 122020000, + "shared_state": "tube_empty/scene_000202/shared_state.npz", + "video": "tube_empty/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000203/left.json", + "scene_id": "tube_empty/scene_000203", + "seed": 122030000, + "shared_state": "tube_empty/scene_000203/shared_state.npz", + "video": "tube_empty/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000203/front.json", + "scene_id": "tube_empty/scene_000203", + "seed": 122030000, + "shared_state": "tube_empty/scene_000203/shared_state.npz", + "video": "tube_empty/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000203/right.json", + "scene_id": "tube_empty/scene_000203", + "seed": 122030000, + "shared_state": "tube_empty/scene_000203/shared_state.npz", + "video": "tube_empty/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000204/left.json", + "scene_id": "tube_empty/scene_000204", + "seed": 122040000, + "shared_state": "tube_empty/scene_000204/shared_state.npz", + "video": "tube_empty/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000204/front.json", + "scene_id": "tube_empty/scene_000204", + "seed": 122040000, + "shared_state": "tube_empty/scene_000204/shared_state.npz", + "video": "tube_empty/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000204/right.json", + "scene_id": "tube_empty/scene_000204", + "seed": 122040000, + "shared_state": "tube_empty/scene_000204/shared_state.npz", + "video": "tube_empty/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000205/left.json", + "scene_id": "tube_empty/scene_000205", + "seed": 122050000, + "shared_state": "tube_empty/scene_000205/shared_state.npz", + "video": "tube_empty/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000205/front.json", + "scene_id": "tube_empty/scene_000205", + "seed": 122050000, + "shared_state": "tube_empty/scene_000205/shared_state.npz", + "video": "tube_empty/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000205/right.json", + "scene_id": "tube_empty/scene_000205", + "seed": 122050000, + "shared_state": "tube_empty/scene_000205/shared_state.npz", + "video": "tube_empty/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000206/left.json", + "scene_id": "tube_empty/scene_000206", + "seed": 122060000, + "shared_state": "tube_empty/scene_000206/shared_state.npz", + "video": "tube_empty/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000206/front.json", + "scene_id": "tube_empty/scene_000206", + "seed": 122060000, + "shared_state": "tube_empty/scene_000206/shared_state.npz", + "video": "tube_empty/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000206/right.json", + "scene_id": "tube_empty/scene_000206", + "seed": 122060000, + "shared_state": "tube_empty/scene_000206/shared_state.npz", + "video": "tube_empty/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000207/left.json", + "scene_id": "tube_empty/scene_000207", + "seed": 122070000, + "shared_state": "tube_empty/scene_000207/shared_state.npz", + "video": "tube_empty/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000207/front.json", + "scene_id": "tube_empty/scene_000207", + "seed": 122070000, + "shared_state": "tube_empty/scene_000207/shared_state.npz", + "video": "tube_empty/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000207/right.json", + "scene_id": "tube_empty/scene_000207", + "seed": 122070000, + "shared_state": "tube_empty/scene_000207/shared_state.npz", + "video": "tube_empty/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000208/left.json", + "scene_id": "tube_empty/scene_000208", + "seed": 122080000, + "shared_state": "tube_empty/scene_000208/shared_state.npz", + "video": "tube_empty/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000208/front.json", + "scene_id": "tube_empty/scene_000208", + "seed": 122080000, + "shared_state": "tube_empty/scene_000208/shared_state.npz", + "video": "tube_empty/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000208/right.json", + "scene_id": "tube_empty/scene_000208", + "seed": 122080000, + "shared_state": "tube_empty/scene_000208/shared_state.npz", + "video": "tube_empty/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000209/left.json", + "scene_id": "tube_empty/scene_000209", + "seed": 122090000, + "shared_state": "tube_empty/scene_000209/shared_state.npz", + "video": "tube_empty/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000209/front.json", + "scene_id": "tube_empty/scene_000209", + "seed": 122090000, + "shared_state": "tube_empty/scene_000209/shared_state.npz", + "video": "tube_empty/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000209/right.json", + "scene_id": "tube_empty/scene_000209", + "seed": 122090000, + "shared_state": "tube_empty/scene_000209/shared_state.npz", + "video": "tube_empty/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000210/left.json", + "scene_id": "tube_empty/scene_000210", + "seed": 122100000, + "shared_state": "tube_empty/scene_000210/shared_state.npz", + "video": "tube_empty/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000210/front.json", + "scene_id": "tube_empty/scene_000210", + "seed": 122100000, + "shared_state": "tube_empty/scene_000210/shared_state.npz", + "video": "tube_empty/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000210/right.json", + "scene_id": "tube_empty/scene_000210", + "seed": 122100000, + "shared_state": "tube_empty/scene_000210/shared_state.npz", + "video": "tube_empty/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000211/left.json", + "scene_id": "tube_empty/scene_000211", + "seed": 122110000, + "shared_state": "tube_empty/scene_000211/shared_state.npz", + "video": "tube_empty/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000211/front.json", + "scene_id": "tube_empty/scene_000211", + "seed": 122110000, + "shared_state": "tube_empty/scene_000211/shared_state.npz", + "video": "tube_empty/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000211/right.json", + "scene_id": "tube_empty/scene_000211", + "seed": 122110000, + "shared_state": "tube_empty/scene_000211/shared_state.npz", + "video": "tube_empty/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000212/left.json", + "scene_id": "tube_empty/scene_000212", + "seed": 122120000, + "shared_state": "tube_empty/scene_000212/shared_state.npz", + "video": "tube_empty/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000212/front.json", + "scene_id": "tube_empty/scene_000212", + "seed": 122120000, + "shared_state": "tube_empty/scene_000212/shared_state.npz", + "video": "tube_empty/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000212/right.json", + "scene_id": "tube_empty/scene_000212", + "seed": 122120000, + "shared_state": "tube_empty/scene_000212/shared_state.npz", + "video": "tube_empty/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000213/left.json", + "scene_id": "tube_empty/scene_000213", + "seed": 122130000, + "shared_state": "tube_empty/scene_000213/shared_state.npz", + "video": "tube_empty/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000213/front.json", + "scene_id": "tube_empty/scene_000213", + "seed": 122130000, + "shared_state": "tube_empty/scene_000213/shared_state.npz", + "video": "tube_empty/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000213/right.json", + "scene_id": "tube_empty/scene_000213", + "seed": 122130000, + "shared_state": "tube_empty/scene_000213/shared_state.npz", + "video": "tube_empty/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000214/left.json", + "scene_id": "tube_empty/scene_000214", + "seed": 122140000, + "shared_state": "tube_empty/scene_000214/shared_state.npz", + "video": "tube_empty/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000214/front.json", + "scene_id": "tube_empty/scene_000214", + "seed": 122140000, + "shared_state": "tube_empty/scene_000214/shared_state.npz", + "video": "tube_empty/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000214/right.json", + "scene_id": "tube_empty/scene_000214", + "seed": 122140000, + "shared_state": "tube_empty/scene_000214/shared_state.npz", + "video": "tube_empty/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000215/left.json", + "scene_id": "tube_empty/scene_000215", + "seed": 122150000, + "shared_state": "tube_empty/scene_000215/shared_state.npz", + "video": "tube_empty/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000215/front.json", + "scene_id": "tube_empty/scene_000215", + "seed": 122150000, + "shared_state": "tube_empty/scene_000215/shared_state.npz", + "video": "tube_empty/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000215/right.json", + "scene_id": "tube_empty/scene_000215", + "seed": 122150000, + "shared_state": "tube_empty/scene_000215/shared_state.npz", + "video": "tube_empty/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000216/left.json", + "scene_id": "tube_empty/scene_000216", + "seed": 122160000, + "shared_state": "tube_empty/scene_000216/shared_state.npz", + "video": "tube_empty/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000216/front.json", + "scene_id": "tube_empty/scene_000216", + "seed": 122160000, + "shared_state": "tube_empty/scene_000216/shared_state.npz", + "video": "tube_empty/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000216/right.json", + "scene_id": "tube_empty/scene_000216", + "seed": 122160000, + "shared_state": "tube_empty/scene_000216/shared_state.npz", + "video": "tube_empty/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000217/left.json", + "scene_id": "tube_empty/scene_000217", + "seed": 122170000, + "shared_state": "tube_empty/scene_000217/shared_state.npz", + "video": "tube_empty/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000217/front.json", + "scene_id": "tube_empty/scene_000217", + "seed": 122170000, + "shared_state": "tube_empty/scene_000217/shared_state.npz", + "video": "tube_empty/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000217/right.json", + "scene_id": "tube_empty/scene_000217", + "seed": 122170000, + "shared_state": "tube_empty/scene_000217/shared_state.npz", + "video": "tube_empty/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000218/left.json", + "scene_id": "tube_empty/scene_000218", + "seed": 122180000, + "shared_state": "tube_empty/scene_000218/shared_state.npz", + "video": "tube_empty/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000218/front.json", + "scene_id": "tube_empty/scene_000218", + "seed": 122180000, + "shared_state": "tube_empty/scene_000218/shared_state.npz", + "video": "tube_empty/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000218/right.json", + "scene_id": "tube_empty/scene_000218", + "seed": 122180000, + "shared_state": "tube_empty/scene_000218/shared_state.npz", + "video": "tube_empty/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000219/left.json", + "scene_id": "tube_empty/scene_000219", + "seed": 122190000, + "shared_state": "tube_empty/scene_000219/shared_state.npz", + "video": "tube_empty/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000219/front.json", + "scene_id": "tube_empty/scene_000219", + "seed": 122190000, + "shared_state": "tube_empty/scene_000219/shared_state.npz", + "video": "tube_empty/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000219/right.json", + "scene_id": "tube_empty/scene_000219", + "seed": 122190000, + "shared_state": "tube_empty/scene_000219/shared_state.npz", + "video": "tube_empty/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000220/left.json", + "scene_id": "tube_empty/scene_000220", + "seed": 122200000, + "shared_state": "tube_empty/scene_000220/shared_state.npz", + "video": "tube_empty/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000220/front.json", + "scene_id": "tube_empty/scene_000220", + "seed": 122200000, + "shared_state": "tube_empty/scene_000220/shared_state.npz", + "video": "tube_empty/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000220/right.json", + "scene_id": "tube_empty/scene_000220", + "seed": 122200000, + "shared_state": "tube_empty/scene_000220/shared_state.npz", + "video": "tube_empty/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000221/left.json", + "scene_id": "tube_empty/scene_000221", + "seed": 122210000, + "shared_state": "tube_empty/scene_000221/shared_state.npz", + "video": "tube_empty/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000221/front.json", + "scene_id": "tube_empty/scene_000221", + "seed": 122210000, + "shared_state": "tube_empty/scene_000221/shared_state.npz", + "video": "tube_empty/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000221/right.json", + "scene_id": "tube_empty/scene_000221", + "seed": 122210000, + "shared_state": "tube_empty/scene_000221/shared_state.npz", + "video": "tube_empty/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000222/left.json", + "scene_id": "tube_empty/scene_000222", + "seed": 122220000, + "shared_state": "tube_empty/scene_000222/shared_state.npz", + "video": "tube_empty/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000222/front.json", + "scene_id": "tube_empty/scene_000222", + "seed": 122220000, + "shared_state": "tube_empty/scene_000222/shared_state.npz", + "video": "tube_empty/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000222/right.json", + "scene_id": "tube_empty/scene_000222", + "seed": 122220000, + "shared_state": "tube_empty/scene_000222/shared_state.npz", + "video": "tube_empty/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000223/left.json", + "scene_id": "tube_empty/scene_000223", + "seed": 122230000, + "shared_state": "tube_empty/scene_000223/shared_state.npz", + "video": "tube_empty/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000223/front.json", + "scene_id": "tube_empty/scene_000223", + "seed": 122230000, + "shared_state": "tube_empty/scene_000223/shared_state.npz", + "video": "tube_empty/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000223/right.json", + "scene_id": "tube_empty/scene_000223", + "seed": 122230000, + "shared_state": "tube_empty/scene_000223/shared_state.npz", + "video": "tube_empty/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000224/left.json", + "scene_id": "tube_empty/scene_000224", + "seed": 122240000, + "shared_state": "tube_empty/scene_000224/shared_state.npz", + "video": "tube_empty/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000224/front.json", + "scene_id": "tube_empty/scene_000224", + "seed": 122240000, + "shared_state": "tube_empty/scene_000224/shared_state.npz", + "video": "tube_empty/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000224/right.json", + "scene_id": "tube_empty/scene_000224", + "seed": 122240000, + "shared_state": "tube_empty/scene_000224/shared_state.npz", + "video": "tube_empty/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000225/left.json", + "scene_id": "tube_empty/scene_000225", + "seed": 122250000, + "shared_state": "tube_empty/scene_000225/shared_state.npz", + "video": "tube_empty/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000225/front.json", + "scene_id": "tube_empty/scene_000225", + "seed": 122250000, + "shared_state": "tube_empty/scene_000225/shared_state.npz", + "video": "tube_empty/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000225/right.json", + "scene_id": "tube_empty/scene_000225", + "seed": 122250000, + "shared_state": "tube_empty/scene_000225/shared_state.npz", + "video": "tube_empty/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000226/left.json", + "scene_id": "tube_empty/scene_000226", + "seed": 122260000, + "shared_state": "tube_empty/scene_000226/shared_state.npz", + "video": "tube_empty/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000226/front.json", + "scene_id": "tube_empty/scene_000226", + "seed": 122260000, + "shared_state": "tube_empty/scene_000226/shared_state.npz", + "video": "tube_empty/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000226/right.json", + "scene_id": "tube_empty/scene_000226", + "seed": 122260000, + "shared_state": "tube_empty/scene_000226/shared_state.npz", + "video": "tube_empty/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000227/left.json", + "scene_id": "tube_empty/scene_000227", + "seed": 122270000, + "shared_state": "tube_empty/scene_000227/shared_state.npz", + "video": "tube_empty/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000227/front.json", + "scene_id": "tube_empty/scene_000227", + "seed": 122270000, + "shared_state": "tube_empty/scene_000227/shared_state.npz", + "video": "tube_empty/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000227/right.json", + "scene_id": "tube_empty/scene_000227", + "seed": 122270000, + "shared_state": "tube_empty/scene_000227/shared_state.npz", + "video": "tube_empty/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000228/left.json", + "scene_id": "tube_empty/scene_000228", + "seed": 122280000, + "shared_state": "tube_empty/scene_000228/shared_state.npz", + "video": "tube_empty/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000228/front.json", + "scene_id": "tube_empty/scene_000228", + "seed": 122280000, + "shared_state": "tube_empty/scene_000228/shared_state.npz", + "video": "tube_empty/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000228/right.json", + "scene_id": "tube_empty/scene_000228", + "seed": 122280000, + "shared_state": "tube_empty/scene_000228/shared_state.npz", + "video": "tube_empty/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000229/left.json", + "scene_id": "tube_empty/scene_000229", + "seed": 122290000, + "shared_state": "tube_empty/scene_000229/shared_state.npz", + "video": "tube_empty/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000229/front.json", + "scene_id": "tube_empty/scene_000229", + "seed": 122290000, + "shared_state": "tube_empty/scene_000229/shared_state.npz", + "video": "tube_empty/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000229/right.json", + "scene_id": "tube_empty/scene_000229", + "seed": 122290000, + "shared_state": "tube_empty/scene_000229/shared_state.npz", + "video": "tube_empty/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000230/left.json", + "scene_id": "tube_empty/scene_000230", + "seed": 122300000, + "shared_state": "tube_empty/scene_000230/shared_state.npz", + "video": "tube_empty/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000230/front.json", + "scene_id": "tube_empty/scene_000230", + "seed": 122300000, + "shared_state": "tube_empty/scene_000230/shared_state.npz", + "video": "tube_empty/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000230/right.json", + "scene_id": "tube_empty/scene_000230", + "seed": 122300000, + "shared_state": "tube_empty/scene_000230/shared_state.npz", + "video": "tube_empty/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000231/left.json", + "scene_id": "tube_empty/scene_000231", + "seed": 122310000, + "shared_state": "tube_empty/scene_000231/shared_state.npz", + "video": "tube_empty/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000231/front.json", + "scene_id": "tube_empty/scene_000231", + "seed": 122310000, + "shared_state": "tube_empty/scene_000231/shared_state.npz", + "video": "tube_empty/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000231/right.json", + "scene_id": "tube_empty/scene_000231", + "seed": 122310000, + "shared_state": "tube_empty/scene_000231/shared_state.npz", + "video": "tube_empty/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000232/left.json", + "scene_id": "tube_empty/scene_000232", + "seed": 122320000, + "shared_state": "tube_empty/scene_000232/shared_state.npz", + "video": "tube_empty/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000232/front.json", + "scene_id": "tube_empty/scene_000232", + "seed": 122320000, + "shared_state": "tube_empty/scene_000232/shared_state.npz", + "video": "tube_empty/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000232/right.json", + "scene_id": "tube_empty/scene_000232", + "seed": 122320000, + "shared_state": "tube_empty/scene_000232/shared_state.npz", + "video": "tube_empty/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000233/left.json", + "scene_id": "tube_empty/scene_000233", + "seed": 122330000, + "shared_state": "tube_empty/scene_000233/shared_state.npz", + "video": "tube_empty/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000233/front.json", + "scene_id": "tube_empty/scene_000233", + "seed": 122330000, + "shared_state": "tube_empty/scene_000233/shared_state.npz", + "video": "tube_empty/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000233/right.json", + "scene_id": "tube_empty/scene_000233", + "seed": 122330000, + "shared_state": "tube_empty/scene_000233/shared_state.npz", + "video": "tube_empty/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000234/left.json", + "scene_id": "tube_empty/scene_000234", + "seed": 122340000, + "shared_state": "tube_empty/scene_000234/shared_state.npz", + "video": "tube_empty/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000234/front.json", + "scene_id": "tube_empty/scene_000234", + "seed": 122340000, + "shared_state": "tube_empty/scene_000234/shared_state.npz", + "video": "tube_empty/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000234/right.json", + "scene_id": "tube_empty/scene_000234", + "seed": 122340000, + "shared_state": "tube_empty/scene_000234/shared_state.npz", + "video": "tube_empty/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000235/left.json", + "scene_id": "tube_empty/scene_000235", + "seed": 122350000, + "shared_state": "tube_empty/scene_000235/shared_state.npz", + "video": "tube_empty/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000235/front.json", + "scene_id": "tube_empty/scene_000235", + "seed": 122350000, + "shared_state": "tube_empty/scene_000235/shared_state.npz", + "video": "tube_empty/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000235/right.json", + "scene_id": "tube_empty/scene_000235", + "seed": 122350000, + "shared_state": "tube_empty/scene_000235/shared_state.npz", + "video": "tube_empty/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000236/left.json", + "scene_id": "tube_empty/scene_000236", + "seed": 122360000, + "shared_state": "tube_empty/scene_000236/shared_state.npz", + "video": "tube_empty/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000236/front.json", + "scene_id": "tube_empty/scene_000236", + "seed": 122360000, + "shared_state": "tube_empty/scene_000236/shared_state.npz", + "video": "tube_empty/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000236/right.json", + "scene_id": "tube_empty/scene_000236", + "seed": 122360000, + "shared_state": "tube_empty/scene_000236/shared_state.npz", + "video": "tube_empty/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000237/left.json", + "scene_id": "tube_empty/scene_000237", + "seed": 122370000, + "shared_state": "tube_empty/scene_000237/shared_state.npz", + "video": "tube_empty/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000237/front.json", + "scene_id": "tube_empty/scene_000237", + "seed": 122370000, + "shared_state": "tube_empty/scene_000237/shared_state.npz", + "video": "tube_empty/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000237/right.json", + "scene_id": "tube_empty/scene_000237", + "seed": 122370000, + "shared_state": "tube_empty/scene_000237/shared_state.npz", + "video": "tube_empty/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000238/left.json", + "scene_id": "tube_empty/scene_000238", + "seed": 122380000, + "shared_state": "tube_empty/scene_000238/shared_state.npz", + "video": "tube_empty/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000238/front.json", + "scene_id": "tube_empty/scene_000238", + "seed": 122380000, + "shared_state": "tube_empty/scene_000238/shared_state.npz", + "video": "tube_empty/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000238/right.json", + "scene_id": "tube_empty/scene_000238", + "seed": 122380000, + "shared_state": "tube_empty/scene_000238/shared_state.npz", + "video": "tube_empty/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000239/left.json", + "scene_id": "tube_empty/scene_000239", + "seed": 122390000, + "shared_state": "tube_empty/scene_000239/shared_state.npz", + "video": "tube_empty/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000239/front.json", + "scene_id": "tube_empty/scene_000239", + "seed": 122390000, + "shared_state": "tube_empty/scene_000239/shared_state.npz", + "video": "tube_empty/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000239/right.json", + "scene_id": "tube_empty/scene_000239", + "seed": 122390000, + "shared_state": "tube_empty/scene_000239/shared_state.npz", + "video": "tube_empty/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000240/left.json", + "scene_id": "tube_empty/scene_000240", + "seed": 122400000, + "shared_state": "tube_empty/scene_000240/shared_state.npz", + "video": "tube_empty/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000240/front.json", + "scene_id": "tube_empty/scene_000240", + "seed": 122400000, + "shared_state": "tube_empty/scene_000240/shared_state.npz", + "video": "tube_empty/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000240/right.json", + "scene_id": "tube_empty/scene_000240", + "seed": 122400000, + "shared_state": "tube_empty/scene_000240/shared_state.npz", + "video": "tube_empty/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000241/left.json", + "scene_id": "tube_empty/scene_000241", + "seed": 122410000, + "shared_state": "tube_empty/scene_000241/shared_state.npz", + "video": "tube_empty/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000241/front.json", + "scene_id": "tube_empty/scene_000241", + "seed": 122410000, + "shared_state": "tube_empty/scene_000241/shared_state.npz", + "video": "tube_empty/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000241/right.json", + "scene_id": "tube_empty/scene_000241", + "seed": 122410000, + "shared_state": "tube_empty/scene_000241/shared_state.npz", + "video": "tube_empty/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000242/left.json", + "scene_id": "tube_empty/scene_000242", + "seed": 122420000, + "shared_state": "tube_empty/scene_000242/shared_state.npz", + "video": "tube_empty/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000242/front.json", + "scene_id": "tube_empty/scene_000242", + "seed": 122420000, + "shared_state": "tube_empty/scene_000242/shared_state.npz", + "video": "tube_empty/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000242/right.json", + "scene_id": "tube_empty/scene_000242", + "seed": 122420000, + "shared_state": "tube_empty/scene_000242/shared_state.npz", + "video": "tube_empty/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000243/left.json", + "scene_id": "tube_empty/scene_000243", + "seed": 122430000, + "shared_state": "tube_empty/scene_000243/shared_state.npz", + "video": "tube_empty/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000243/front.json", + "scene_id": "tube_empty/scene_000243", + "seed": 122430000, + "shared_state": "tube_empty/scene_000243/shared_state.npz", + "video": "tube_empty/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000243/right.json", + "scene_id": "tube_empty/scene_000243", + "seed": 122430000, + "shared_state": "tube_empty/scene_000243/shared_state.npz", + "video": "tube_empty/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000244/left.json", + "scene_id": "tube_empty/scene_000244", + "seed": 122440000, + "shared_state": "tube_empty/scene_000244/shared_state.npz", + "video": "tube_empty/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000244/front.json", + "scene_id": "tube_empty/scene_000244", + "seed": 122440000, + "shared_state": "tube_empty/scene_000244/shared_state.npz", + "video": "tube_empty/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000244/right.json", + "scene_id": "tube_empty/scene_000244", + "seed": 122440000, + "shared_state": "tube_empty/scene_000244/shared_state.npz", + "video": "tube_empty/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000245/left.json", + "scene_id": "tube_empty/scene_000245", + "seed": 122450000, + "shared_state": "tube_empty/scene_000245/shared_state.npz", + "video": "tube_empty/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000245/front.json", + "scene_id": "tube_empty/scene_000245", + "seed": 122450000, + "shared_state": "tube_empty/scene_000245/shared_state.npz", + "video": "tube_empty/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000245/right.json", + "scene_id": "tube_empty/scene_000245", + "seed": 122450000, + "shared_state": "tube_empty/scene_000245/shared_state.npz", + "video": "tube_empty/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000246/left.json", + "scene_id": "tube_empty/scene_000246", + "seed": 122460000, + "shared_state": "tube_empty/scene_000246/shared_state.npz", + "video": "tube_empty/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000246/front.json", + "scene_id": "tube_empty/scene_000246", + "seed": 122460000, + "shared_state": "tube_empty/scene_000246/shared_state.npz", + "video": "tube_empty/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000246/right.json", + "scene_id": "tube_empty/scene_000246", + "seed": 122460000, + "shared_state": "tube_empty/scene_000246/shared_state.npz", + "video": "tube_empty/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000247/left.json", + "scene_id": "tube_empty/scene_000247", + "seed": 122470000, + "shared_state": "tube_empty/scene_000247/shared_state.npz", + "video": "tube_empty/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000247/front.json", + "scene_id": "tube_empty/scene_000247", + "seed": 122470000, + "shared_state": "tube_empty/scene_000247/shared_state.npz", + "video": "tube_empty/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000247/right.json", + "scene_id": "tube_empty/scene_000247", + "seed": 122470000, + "shared_state": "tube_empty/scene_000247/shared_state.npz", + "video": "tube_empty/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000248/left.json", + "scene_id": "tube_empty/scene_000248", + "seed": 122480000, + "shared_state": "tube_empty/scene_000248/shared_state.npz", + "video": "tube_empty/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000248/front.json", + "scene_id": "tube_empty/scene_000248", + "seed": 122480000, + "shared_state": "tube_empty/scene_000248/shared_state.npz", + "video": "tube_empty/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000248/right.json", + "scene_id": "tube_empty/scene_000248", + "seed": 122480000, + "shared_state": "tube_empty/scene_000248/shared_state.npz", + "video": "tube_empty/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000249/left.json", + "scene_id": "tube_empty/scene_000249", + "seed": 122490000, + "shared_state": "tube_empty/scene_000249/shared_state.npz", + "video": "tube_empty/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000249/front.json", + "scene_id": "tube_empty/scene_000249", + "seed": 122490000, + "shared_state": "tube_empty/scene_000249/shared_state.npz", + "video": "tube_empty/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000249/right.json", + "scene_id": "tube_empty/scene_000249", + "seed": 122490000, + "shared_state": "tube_empty/scene_000249/shared_state.npz", + "video": "tube_empty/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000250/left.json", + "scene_id": "tube_empty/scene_000250", + "seed": 122500000, + "shared_state": "tube_empty/scene_000250/shared_state.npz", + "video": "tube_empty/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000250/front.json", + "scene_id": "tube_empty/scene_000250", + "seed": 122500000, + "shared_state": "tube_empty/scene_000250/shared_state.npz", + "video": "tube_empty/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000250/right.json", + "scene_id": "tube_empty/scene_000250", + "seed": 122500000, + "shared_state": "tube_empty/scene_000250/shared_state.npz", + "video": "tube_empty/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000251/left.json", + "scene_id": "tube_empty/scene_000251", + "seed": 122510000, + "shared_state": "tube_empty/scene_000251/shared_state.npz", + "video": "tube_empty/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000251/front.json", + "scene_id": "tube_empty/scene_000251", + "seed": 122510000, + "shared_state": "tube_empty/scene_000251/shared_state.npz", + "video": "tube_empty/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000251/right.json", + "scene_id": "tube_empty/scene_000251", + "seed": 122510000, + "shared_state": "tube_empty/scene_000251/shared_state.npz", + "video": "tube_empty/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000252/left.json", + "scene_id": "tube_empty/scene_000252", + "seed": 122520000, + "shared_state": "tube_empty/scene_000252/shared_state.npz", + "video": "tube_empty/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000252/front.json", + "scene_id": "tube_empty/scene_000252", + "seed": 122520000, + "shared_state": "tube_empty/scene_000252/shared_state.npz", + "video": "tube_empty/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000252/right.json", + "scene_id": "tube_empty/scene_000252", + "seed": 122520000, + "shared_state": "tube_empty/scene_000252/shared_state.npz", + "video": "tube_empty/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000253/left.json", + "scene_id": "tube_empty/scene_000253", + "seed": 122530000, + "shared_state": "tube_empty/scene_000253/shared_state.npz", + "video": "tube_empty/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000253/front.json", + "scene_id": "tube_empty/scene_000253", + "seed": 122530000, + "shared_state": "tube_empty/scene_000253/shared_state.npz", + "video": "tube_empty/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000253/right.json", + "scene_id": "tube_empty/scene_000253", + "seed": 122530000, + "shared_state": "tube_empty/scene_000253/shared_state.npz", + "video": "tube_empty/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000254/left.json", + "scene_id": "tube_empty/scene_000254", + "seed": 122540000, + "shared_state": "tube_empty/scene_000254/shared_state.npz", + "video": "tube_empty/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000254/front.json", + "scene_id": "tube_empty/scene_000254", + "seed": 122540000, + "shared_state": "tube_empty/scene_000254/shared_state.npz", + "video": "tube_empty/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000254/right.json", + "scene_id": "tube_empty/scene_000254", + "seed": 122540000, + "shared_state": "tube_empty/scene_000254/shared_state.npz", + "video": "tube_empty/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000255/left.json", + "scene_id": "tube_empty/scene_000255", + "seed": 122550000, + "shared_state": "tube_empty/scene_000255/shared_state.npz", + "video": "tube_empty/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000255/front.json", + "scene_id": "tube_empty/scene_000255", + "seed": 122550000, + "shared_state": "tube_empty/scene_000255/shared_state.npz", + "video": "tube_empty/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000255/right.json", + "scene_id": "tube_empty/scene_000255", + "seed": 122550000, + "shared_state": "tube_empty/scene_000255/shared_state.npz", + "video": "tube_empty/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000256/left.json", + "scene_id": "tube_empty/scene_000256", + "seed": 122560000, + "shared_state": "tube_empty/scene_000256/shared_state.npz", + "video": "tube_empty/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000256/front.json", + "scene_id": "tube_empty/scene_000256", + "seed": 122560000, + "shared_state": "tube_empty/scene_000256/shared_state.npz", + "video": "tube_empty/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000256/right.json", + "scene_id": "tube_empty/scene_000256", + "seed": 122560000, + "shared_state": "tube_empty/scene_000256/shared_state.npz", + "video": "tube_empty/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000257/left.json", + "scene_id": "tube_empty/scene_000257", + "seed": 122570000, + "shared_state": "tube_empty/scene_000257/shared_state.npz", + "video": "tube_empty/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000257/front.json", + "scene_id": "tube_empty/scene_000257", + "seed": 122570000, + "shared_state": "tube_empty/scene_000257/shared_state.npz", + "video": "tube_empty/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000257/right.json", + "scene_id": "tube_empty/scene_000257", + "seed": 122570000, + "shared_state": "tube_empty/scene_000257/shared_state.npz", + "video": "tube_empty/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000258/left.json", + "scene_id": "tube_empty/scene_000258", + "seed": 122580000, + "shared_state": "tube_empty/scene_000258/shared_state.npz", + "video": "tube_empty/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000258/front.json", + "scene_id": "tube_empty/scene_000258", + "seed": 122580000, + "shared_state": "tube_empty/scene_000258/shared_state.npz", + "video": "tube_empty/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000258/right.json", + "scene_id": "tube_empty/scene_000258", + "seed": 122580000, + "shared_state": "tube_empty/scene_000258/shared_state.npz", + "video": "tube_empty/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000259/left.json", + "scene_id": "tube_empty/scene_000259", + "seed": 122590000, + "shared_state": "tube_empty/scene_000259/shared_state.npz", + "video": "tube_empty/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000259/front.json", + "scene_id": "tube_empty/scene_000259", + "seed": 122590000, + "shared_state": "tube_empty/scene_000259/shared_state.npz", + "video": "tube_empty/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000259/right.json", + "scene_id": "tube_empty/scene_000259", + "seed": 122590000, + "shared_state": "tube_empty/scene_000259/shared_state.npz", + "video": "tube_empty/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000260/left.json", + "scene_id": "tube_empty/scene_000260", + "seed": 122600000, + "shared_state": "tube_empty/scene_000260/shared_state.npz", + "video": "tube_empty/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000260/front.json", + "scene_id": "tube_empty/scene_000260", + "seed": 122600000, + "shared_state": "tube_empty/scene_000260/shared_state.npz", + "video": "tube_empty/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000260/right.json", + "scene_id": "tube_empty/scene_000260", + "seed": 122600000, + "shared_state": "tube_empty/scene_000260/shared_state.npz", + "video": "tube_empty/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000261/left.json", + "scene_id": "tube_empty/scene_000261", + "seed": 122610000, + "shared_state": "tube_empty/scene_000261/shared_state.npz", + "video": "tube_empty/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000261/front.json", + "scene_id": "tube_empty/scene_000261", + "seed": 122610000, + "shared_state": "tube_empty/scene_000261/shared_state.npz", + "video": "tube_empty/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000261/right.json", + "scene_id": "tube_empty/scene_000261", + "seed": 122610000, + "shared_state": "tube_empty/scene_000261/shared_state.npz", + "video": "tube_empty/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000262/left.json", + "scene_id": "tube_empty/scene_000262", + "seed": 122620000, + "shared_state": "tube_empty/scene_000262/shared_state.npz", + "video": "tube_empty/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000262/front.json", + "scene_id": "tube_empty/scene_000262", + "seed": 122620000, + "shared_state": "tube_empty/scene_000262/shared_state.npz", + "video": "tube_empty/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000262/right.json", + "scene_id": "tube_empty/scene_000262", + "seed": 122620000, + "shared_state": "tube_empty/scene_000262/shared_state.npz", + "video": "tube_empty/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000263/left.json", + "scene_id": "tube_empty/scene_000263", + "seed": 122630000, + "shared_state": "tube_empty/scene_000263/shared_state.npz", + "video": "tube_empty/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000263/front.json", + "scene_id": "tube_empty/scene_000263", + "seed": 122630000, + "shared_state": "tube_empty/scene_000263/shared_state.npz", + "video": "tube_empty/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000263/right.json", + "scene_id": "tube_empty/scene_000263", + "seed": 122630000, + "shared_state": "tube_empty/scene_000263/shared_state.npz", + "video": "tube_empty/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000264/left.json", + "scene_id": "tube_empty/scene_000264", + "seed": 122640000, + "shared_state": "tube_empty/scene_000264/shared_state.npz", + "video": "tube_empty/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000264/front.json", + "scene_id": "tube_empty/scene_000264", + "seed": 122640000, + "shared_state": "tube_empty/scene_000264/shared_state.npz", + "video": "tube_empty/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000264/right.json", + "scene_id": "tube_empty/scene_000264", + "seed": 122640000, + "shared_state": "tube_empty/scene_000264/shared_state.npz", + "video": "tube_empty/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000265/left.json", + "scene_id": "tube_empty/scene_000265", + "seed": 122650000, + "shared_state": "tube_empty/scene_000265/shared_state.npz", + "video": "tube_empty/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000265/front.json", + "scene_id": "tube_empty/scene_000265", + "seed": 122650000, + "shared_state": "tube_empty/scene_000265/shared_state.npz", + "video": "tube_empty/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000265/right.json", + "scene_id": "tube_empty/scene_000265", + "seed": 122650000, + "shared_state": "tube_empty/scene_000265/shared_state.npz", + "video": "tube_empty/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000266/left.json", + "scene_id": "tube_empty/scene_000266", + "seed": 122660000, + "shared_state": "tube_empty/scene_000266/shared_state.npz", + "video": "tube_empty/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000266/front.json", + "scene_id": "tube_empty/scene_000266", + "seed": 122660000, + "shared_state": "tube_empty/scene_000266/shared_state.npz", + "video": "tube_empty/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000266/right.json", + "scene_id": "tube_empty/scene_000266", + "seed": 122660000, + "shared_state": "tube_empty/scene_000266/shared_state.npz", + "video": "tube_empty/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000267/left.json", + "scene_id": "tube_empty/scene_000267", + "seed": 122670000, + "shared_state": "tube_empty/scene_000267/shared_state.npz", + "video": "tube_empty/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000267/front.json", + "scene_id": "tube_empty/scene_000267", + "seed": 122670000, + "shared_state": "tube_empty/scene_000267/shared_state.npz", + "video": "tube_empty/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000267/right.json", + "scene_id": "tube_empty/scene_000267", + "seed": 122670000, + "shared_state": "tube_empty/scene_000267/shared_state.npz", + "video": "tube_empty/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000268/left.json", + "scene_id": "tube_empty/scene_000268", + "seed": 122680000, + "shared_state": "tube_empty/scene_000268/shared_state.npz", + "video": "tube_empty/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000268/front.json", + "scene_id": "tube_empty/scene_000268", + "seed": 122680000, + "shared_state": "tube_empty/scene_000268/shared_state.npz", + "video": "tube_empty/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000268/right.json", + "scene_id": "tube_empty/scene_000268", + "seed": 122680000, + "shared_state": "tube_empty/scene_000268/shared_state.npz", + "video": "tube_empty/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000269/left.json", + "scene_id": "tube_empty/scene_000269", + "seed": 122690000, + "shared_state": "tube_empty/scene_000269/shared_state.npz", + "video": "tube_empty/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000269/front.json", + "scene_id": "tube_empty/scene_000269", + "seed": 122690000, + "shared_state": "tube_empty/scene_000269/shared_state.npz", + "video": "tube_empty/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000269/right.json", + "scene_id": "tube_empty/scene_000269", + "seed": 122690000, + "shared_state": "tube_empty/scene_000269/shared_state.npz", + "video": "tube_empty/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000270/left.json", + "scene_id": "tube_empty/scene_000270", + "seed": 122700000, + "shared_state": "tube_empty/scene_000270/shared_state.npz", + "video": "tube_empty/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000270/front.json", + "scene_id": "tube_empty/scene_000270", + "seed": 122700000, + "shared_state": "tube_empty/scene_000270/shared_state.npz", + "video": "tube_empty/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000270/right.json", + "scene_id": "tube_empty/scene_000270", + "seed": 122700000, + "shared_state": "tube_empty/scene_000270/shared_state.npz", + "video": "tube_empty/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000271/left.json", + "scene_id": "tube_empty/scene_000271", + "seed": 122710000, + "shared_state": "tube_empty/scene_000271/shared_state.npz", + "video": "tube_empty/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000271/front.json", + "scene_id": "tube_empty/scene_000271", + "seed": 122710000, + "shared_state": "tube_empty/scene_000271/shared_state.npz", + "video": "tube_empty/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000271/right.json", + "scene_id": "tube_empty/scene_000271", + "seed": 122710000, + "shared_state": "tube_empty/scene_000271/shared_state.npz", + "video": "tube_empty/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000272/left.json", + "scene_id": "tube_empty/scene_000272", + "seed": 122720000, + "shared_state": "tube_empty/scene_000272/shared_state.npz", + "video": "tube_empty/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000272/front.json", + "scene_id": "tube_empty/scene_000272", + "seed": 122720000, + "shared_state": "tube_empty/scene_000272/shared_state.npz", + "video": "tube_empty/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000272/right.json", + "scene_id": "tube_empty/scene_000272", + "seed": 122720000, + "shared_state": "tube_empty/scene_000272/shared_state.npz", + "video": "tube_empty/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000273/left.json", + "scene_id": "tube_empty/scene_000273", + "seed": 122730000, + "shared_state": "tube_empty/scene_000273/shared_state.npz", + "video": "tube_empty/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000273/front.json", + "scene_id": "tube_empty/scene_000273", + "seed": 122730000, + "shared_state": "tube_empty/scene_000273/shared_state.npz", + "video": "tube_empty/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000273/right.json", + "scene_id": "tube_empty/scene_000273", + "seed": 122730000, + "shared_state": "tube_empty/scene_000273/shared_state.npz", + "video": "tube_empty/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000274/left.json", + "scene_id": "tube_empty/scene_000274", + "seed": 122740000, + "shared_state": "tube_empty/scene_000274/shared_state.npz", + "video": "tube_empty/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000274/front.json", + "scene_id": "tube_empty/scene_000274", + "seed": 122740000, + "shared_state": "tube_empty/scene_000274/shared_state.npz", + "video": "tube_empty/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000274/right.json", + "scene_id": "tube_empty/scene_000274", + "seed": 122740000, + "shared_state": "tube_empty/scene_000274/shared_state.npz", + "video": "tube_empty/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000275/left.json", + "scene_id": "tube_empty/scene_000275", + "seed": 122750000, + "shared_state": "tube_empty/scene_000275/shared_state.npz", + "video": "tube_empty/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000275/front.json", + "scene_id": "tube_empty/scene_000275", + "seed": 122750000, + "shared_state": "tube_empty/scene_000275/shared_state.npz", + "video": "tube_empty/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000275/right.json", + "scene_id": "tube_empty/scene_000275", + "seed": 122750000, + "shared_state": "tube_empty/scene_000275/shared_state.npz", + "video": "tube_empty/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000276/left.json", + "scene_id": "tube_empty/scene_000276", + "seed": 122760000, + "shared_state": "tube_empty/scene_000276/shared_state.npz", + "video": "tube_empty/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000276/front.json", + "scene_id": "tube_empty/scene_000276", + "seed": 122760000, + "shared_state": "tube_empty/scene_000276/shared_state.npz", + "video": "tube_empty/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000276/right.json", + "scene_id": "tube_empty/scene_000276", + "seed": 122760000, + "shared_state": "tube_empty/scene_000276/shared_state.npz", + "video": "tube_empty/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000277/left.json", + "scene_id": "tube_empty/scene_000277", + "seed": 122770000, + "shared_state": "tube_empty/scene_000277/shared_state.npz", + "video": "tube_empty/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000277/front.json", + "scene_id": "tube_empty/scene_000277", + "seed": 122770000, + "shared_state": "tube_empty/scene_000277/shared_state.npz", + "video": "tube_empty/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000277/right.json", + "scene_id": "tube_empty/scene_000277", + "seed": 122770000, + "shared_state": "tube_empty/scene_000277/shared_state.npz", + "video": "tube_empty/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000278/left.json", + "scene_id": "tube_empty/scene_000278", + "seed": 122780000, + "shared_state": "tube_empty/scene_000278/shared_state.npz", + "video": "tube_empty/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000278/front.json", + "scene_id": "tube_empty/scene_000278", + "seed": 122780000, + "shared_state": "tube_empty/scene_000278/shared_state.npz", + "video": "tube_empty/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000278/right.json", + "scene_id": "tube_empty/scene_000278", + "seed": 122780000, + "shared_state": "tube_empty/scene_000278/shared_state.npz", + "video": "tube_empty/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000279/left.json", + "scene_id": "tube_empty/scene_000279", + "seed": 122790000, + "shared_state": "tube_empty/scene_000279/shared_state.npz", + "video": "tube_empty/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000279/front.json", + "scene_id": "tube_empty/scene_000279", + "seed": 122790000, + "shared_state": "tube_empty/scene_000279/shared_state.npz", + "video": "tube_empty/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000279/right.json", + "scene_id": "tube_empty/scene_000279", + "seed": 122790000, + "shared_state": "tube_empty/scene_000279/shared_state.npz", + "video": "tube_empty/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000280/left.json", + "scene_id": "tube_empty/scene_000280", + "seed": 122800000, + "shared_state": "tube_empty/scene_000280/shared_state.npz", + "video": "tube_empty/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000280/front.json", + "scene_id": "tube_empty/scene_000280", + "seed": 122800000, + "shared_state": "tube_empty/scene_000280/shared_state.npz", + "video": "tube_empty/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000280/right.json", + "scene_id": "tube_empty/scene_000280", + "seed": 122800000, + "shared_state": "tube_empty/scene_000280/shared_state.npz", + "video": "tube_empty/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000281/left.json", + "scene_id": "tube_empty/scene_000281", + "seed": 122810000, + "shared_state": "tube_empty/scene_000281/shared_state.npz", + "video": "tube_empty/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000281/front.json", + "scene_id": "tube_empty/scene_000281", + "seed": 122810000, + "shared_state": "tube_empty/scene_000281/shared_state.npz", + "video": "tube_empty/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000281/right.json", + "scene_id": "tube_empty/scene_000281", + "seed": 122810000, + "shared_state": "tube_empty/scene_000281/shared_state.npz", + "video": "tube_empty/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000282/left.json", + "scene_id": "tube_empty/scene_000282", + "seed": 122820000, + "shared_state": "tube_empty/scene_000282/shared_state.npz", + "video": "tube_empty/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000282/front.json", + "scene_id": "tube_empty/scene_000282", + "seed": 122820000, + "shared_state": "tube_empty/scene_000282/shared_state.npz", + "video": "tube_empty/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000282/right.json", + "scene_id": "tube_empty/scene_000282", + "seed": 122820000, + "shared_state": "tube_empty/scene_000282/shared_state.npz", + "video": "tube_empty/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000283/left.json", + "scene_id": "tube_empty/scene_000283", + "seed": 122830000, + "shared_state": "tube_empty/scene_000283/shared_state.npz", + "video": "tube_empty/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000283/front.json", + "scene_id": "tube_empty/scene_000283", + "seed": 122830000, + "shared_state": "tube_empty/scene_000283/shared_state.npz", + "video": "tube_empty/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000283/right.json", + "scene_id": "tube_empty/scene_000283", + "seed": 122830000, + "shared_state": "tube_empty/scene_000283/shared_state.npz", + "video": "tube_empty/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000284/left.json", + "scene_id": "tube_empty/scene_000284", + "seed": 122840000, + "shared_state": "tube_empty/scene_000284/shared_state.npz", + "video": "tube_empty/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000284/front.json", + "scene_id": "tube_empty/scene_000284", + "seed": 122840000, + "shared_state": "tube_empty/scene_000284/shared_state.npz", + "video": "tube_empty/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000284/right.json", + "scene_id": "tube_empty/scene_000284", + "seed": 122840000, + "shared_state": "tube_empty/scene_000284/shared_state.npz", + "video": "tube_empty/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000285/left.json", + "scene_id": "tube_empty/scene_000285", + "seed": 122850000, + "shared_state": "tube_empty/scene_000285/shared_state.npz", + "video": "tube_empty/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000285/front.json", + "scene_id": "tube_empty/scene_000285", + "seed": 122850000, + "shared_state": "tube_empty/scene_000285/shared_state.npz", + "video": "tube_empty/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000285/right.json", + "scene_id": "tube_empty/scene_000285", + "seed": 122850000, + "shared_state": "tube_empty/scene_000285/shared_state.npz", + "video": "tube_empty/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000286/left.json", + "scene_id": "tube_empty/scene_000286", + "seed": 122860000, + "shared_state": "tube_empty/scene_000286/shared_state.npz", + "video": "tube_empty/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000286/front.json", + "scene_id": "tube_empty/scene_000286", + "seed": 122860000, + "shared_state": "tube_empty/scene_000286/shared_state.npz", + "video": "tube_empty/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000286/right.json", + "scene_id": "tube_empty/scene_000286", + "seed": 122860000, + "shared_state": "tube_empty/scene_000286/shared_state.npz", + "video": "tube_empty/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000287/left.json", + "scene_id": "tube_empty/scene_000287", + "seed": 122870000, + "shared_state": "tube_empty/scene_000287/shared_state.npz", + "video": "tube_empty/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000287/front.json", + "scene_id": "tube_empty/scene_000287", + "seed": 122870000, + "shared_state": "tube_empty/scene_000287/shared_state.npz", + "video": "tube_empty/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000287/right.json", + "scene_id": "tube_empty/scene_000287", + "seed": 122870000, + "shared_state": "tube_empty/scene_000287/shared_state.npz", + "video": "tube_empty/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000288/left.json", + "scene_id": "tube_empty/scene_000288", + "seed": 122880000, + "shared_state": "tube_empty/scene_000288/shared_state.npz", + "video": "tube_empty/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000288/front.json", + "scene_id": "tube_empty/scene_000288", + "seed": 122880000, + "shared_state": "tube_empty/scene_000288/shared_state.npz", + "video": "tube_empty/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000288/right.json", + "scene_id": "tube_empty/scene_000288", + "seed": 122880000, + "shared_state": "tube_empty/scene_000288/shared_state.npz", + "video": "tube_empty/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000289/left.json", + "scene_id": "tube_empty/scene_000289", + "seed": 122890000, + "shared_state": "tube_empty/scene_000289/shared_state.npz", + "video": "tube_empty/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000289/front.json", + "scene_id": "tube_empty/scene_000289", + "seed": 122890000, + "shared_state": "tube_empty/scene_000289/shared_state.npz", + "video": "tube_empty/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000289/right.json", + "scene_id": "tube_empty/scene_000289", + "seed": 122890000, + "shared_state": "tube_empty/scene_000289/shared_state.npz", + "video": "tube_empty/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000290/left.json", + "scene_id": "tube_empty/scene_000290", + "seed": 122900000, + "shared_state": "tube_empty/scene_000290/shared_state.npz", + "video": "tube_empty/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000290/front.json", + "scene_id": "tube_empty/scene_000290", + "seed": 122900000, + "shared_state": "tube_empty/scene_000290/shared_state.npz", + "video": "tube_empty/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000290/right.json", + "scene_id": "tube_empty/scene_000290", + "seed": 122900000, + "shared_state": "tube_empty/scene_000290/shared_state.npz", + "video": "tube_empty/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000291/left.json", + "scene_id": "tube_empty/scene_000291", + "seed": 122910000, + "shared_state": "tube_empty/scene_000291/shared_state.npz", + "video": "tube_empty/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000291/front.json", + "scene_id": "tube_empty/scene_000291", + "seed": 122910000, + "shared_state": "tube_empty/scene_000291/shared_state.npz", + "video": "tube_empty/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000291/right.json", + "scene_id": "tube_empty/scene_000291", + "seed": 122910000, + "shared_state": "tube_empty/scene_000291/shared_state.npz", + "video": "tube_empty/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000292/left.json", + "scene_id": "tube_empty/scene_000292", + "seed": 122920000, + "shared_state": "tube_empty/scene_000292/shared_state.npz", + "video": "tube_empty/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000292/front.json", + "scene_id": "tube_empty/scene_000292", + "seed": 122920000, + "shared_state": "tube_empty/scene_000292/shared_state.npz", + "video": "tube_empty/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000292/right.json", + "scene_id": "tube_empty/scene_000292", + "seed": 122920000, + "shared_state": "tube_empty/scene_000292/shared_state.npz", + "video": "tube_empty/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000293/left.json", + "scene_id": "tube_empty/scene_000293", + "seed": 122930000, + "shared_state": "tube_empty/scene_000293/shared_state.npz", + "video": "tube_empty/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000293/front.json", + "scene_id": "tube_empty/scene_000293", + "seed": 122930000, + "shared_state": "tube_empty/scene_000293/shared_state.npz", + "video": "tube_empty/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000293/right.json", + "scene_id": "tube_empty/scene_000293", + "seed": 122930000, + "shared_state": "tube_empty/scene_000293/shared_state.npz", + "video": "tube_empty/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000294/left.json", + "scene_id": "tube_empty/scene_000294", + "seed": 122940000, + "shared_state": "tube_empty/scene_000294/shared_state.npz", + "video": "tube_empty/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000294/front.json", + "scene_id": "tube_empty/scene_000294", + "seed": 122940000, + "shared_state": "tube_empty/scene_000294/shared_state.npz", + "video": "tube_empty/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000294/right.json", + "scene_id": "tube_empty/scene_000294", + "seed": 122940000, + "shared_state": "tube_empty/scene_000294/shared_state.npz", + "video": "tube_empty/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000295/left.json", + "scene_id": "tube_empty/scene_000295", + "seed": 122950000, + "shared_state": "tube_empty/scene_000295/shared_state.npz", + "video": "tube_empty/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000295/front.json", + "scene_id": "tube_empty/scene_000295", + "seed": 122950000, + "shared_state": "tube_empty/scene_000295/shared_state.npz", + "video": "tube_empty/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000295/right.json", + "scene_id": "tube_empty/scene_000295", + "seed": 122950000, + "shared_state": "tube_empty/scene_000295/shared_state.npz", + "video": "tube_empty/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000296/left.json", + "scene_id": "tube_empty/scene_000296", + "seed": 122960000, + "shared_state": "tube_empty/scene_000296/shared_state.npz", + "video": "tube_empty/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000296/front.json", + "scene_id": "tube_empty/scene_000296", + "seed": 122960000, + "shared_state": "tube_empty/scene_000296/shared_state.npz", + "video": "tube_empty/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000296/right.json", + "scene_id": "tube_empty/scene_000296", + "seed": 122960000, + "shared_state": "tube_empty/scene_000296/shared_state.npz", + "video": "tube_empty/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000297/left.json", + "scene_id": "tube_empty/scene_000297", + "seed": 122970001, + "shared_state": "tube_empty/scene_000297/shared_state.npz", + "video": "tube_empty/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000297/front.json", + "scene_id": "tube_empty/scene_000297", + "seed": 122970001, + "shared_state": "tube_empty/scene_000297/shared_state.npz", + "video": "tube_empty/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000297/right.json", + "scene_id": "tube_empty/scene_000297", + "seed": 122970001, + "shared_state": "tube_empty/scene_000297/shared_state.npz", + "video": "tube_empty/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000298/left.json", + "scene_id": "tube_empty/scene_000298", + "seed": 122980000, + "shared_state": "tube_empty/scene_000298/shared_state.npz", + "video": "tube_empty/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000298/front.json", + "scene_id": "tube_empty/scene_000298", + "seed": 122980000, + "shared_state": "tube_empty/scene_000298/shared_state.npz", + "video": "tube_empty/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000298/right.json", + "scene_id": "tube_empty/scene_000298", + "seed": 122980000, + "shared_state": "tube_empty/scene_000298/shared_state.npz", + "video": "tube_empty/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000299/left.json", + "scene_id": "tube_empty/scene_000299", + "seed": 122990000, + "shared_state": "tube_empty/scene_000299/shared_state.npz", + "video": "tube_empty/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000299/front.json", + "scene_id": "tube_empty/scene_000299", + "seed": 122990000, + "shared_state": "tube_empty/scene_000299/shared_state.npz", + "video": "tube_empty/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "tube_empty", + "inherited": false, + "metadata": "tube_empty/scene_000299/right.json", + "scene_id": "tube_empty/scene_000299", + "seed": 122990000, + "shared_state": "tube_empty/scene_000299/shared_state.npz", + "video": "tube_empty/scene_000299/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000000/left.json", + "scene_id": "vortex_off/scene_000000", + "seed": 21260909, + "shared_state": "vortex_off/scene_000000/shared_state.npz", + "video": "vortex_off/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000000/front.json", + "scene_id": "vortex_off/scene_000000", + "seed": 21260909, + "shared_state": "vortex_off/scene_000000/shared_state.npz", + "video": "vortex_off/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000000/right.json", + "scene_id": "vortex_off/scene_000000", + "seed": 21260909, + "shared_state": "vortex_off/scene_000000/shared_state.npz", + "video": "vortex_off/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000001/left.json", + "scene_id": "vortex_off/scene_000001", + "seed": 21270910, + "shared_state": "vortex_off/scene_000001/shared_state.npz", + "video": "vortex_off/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000001/front.json", + "scene_id": "vortex_off/scene_000001", + "seed": 21270910, + "shared_state": "vortex_off/scene_000001/shared_state.npz", + "video": "vortex_off/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000001/right.json", + "scene_id": "vortex_off/scene_000001", + "seed": 21270910, + "shared_state": "vortex_off/scene_000001/shared_state.npz", + "video": "vortex_off/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000002/left.json", + "scene_id": "vortex_off/scene_000002", + "seed": 21280909, + "shared_state": "vortex_off/scene_000002/shared_state.npz", + "video": "vortex_off/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000002/front.json", + "scene_id": "vortex_off/scene_000002", + "seed": 21280909, + "shared_state": "vortex_off/scene_000002/shared_state.npz", + "video": "vortex_off/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000002/right.json", + "scene_id": "vortex_off/scene_000002", + "seed": 21280909, + "shared_state": "vortex_off/scene_000002/shared_state.npz", + "video": "vortex_off/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000003/left.json", + "scene_id": "vortex_off/scene_000003", + "seed": 21290910, + "shared_state": "vortex_off/scene_000003/shared_state.npz", + "video": "vortex_off/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000003/front.json", + "scene_id": "vortex_off/scene_000003", + "seed": 21290910, + "shared_state": "vortex_off/scene_000003/shared_state.npz", + "video": "vortex_off/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000003/right.json", + "scene_id": "vortex_off/scene_000003", + "seed": 21290910, + "shared_state": "vortex_off/scene_000003/shared_state.npz", + "video": "vortex_off/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000004/left.json", + "scene_id": "vortex_off/scene_000004", + "seed": 21300909, + "shared_state": "vortex_off/scene_000004/shared_state.npz", + "video": "vortex_off/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000004/front.json", + "scene_id": "vortex_off/scene_000004", + "seed": 21300909, + "shared_state": "vortex_off/scene_000004/shared_state.npz", + "video": "vortex_off/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000004/right.json", + "scene_id": "vortex_off/scene_000004", + "seed": 21300909, + "shared_state": "vortex_off/scene_000004/shared_state.npz", + "video": "vortex_off/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000005/left.json", + "scene_id": "vortex_off/scene_000005", + "seed": 21310909, + "shared_state": "vortex_off/scene_000005/shared_state.npz", + "video": "vortex_off/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000005/front.json", + "scene_id": "vortex_off/scene_000005", + "seed": 21310909, + "shared_state": "vortex_off/scene_000005/shared_state.npz", + "video": "vortex_off/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000005/right.json", + "scene_id": "vortex_off/scene_000005", + "seed": 21310909, + "shared_state": "vortex_off/scene_000005/shared_state.npz", + "video": "vortex_off/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000006/left.json", + "scene_id": "vortex_off/scene_000006", + "seed": 21320909, + "shared_state": "vortex_off/scene_000006/shared_state.npz", + "video": "vortex_off/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000006/front.json", + "scene_id": "vortex_off/scene_000006", + "seed": 21320909, + "shared_state": "vortex_off/scene_000006/shared_state.npz", + "video": "vortex_off/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000006/right.json", + "scene_id": "vortex_off/scene_000006", + "seed": 21320909, + "shared_state": "vortex_off/scene_000006/shared_state.npz", + "video": "vortex_off/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000007/left.json", + "scene_id": "vortex_off/scene_000007", + "seed": 21330909, + "shared_state": "vortex_off/scene_000007/shared_state.npz", + "video": "vortex_off/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000007/front.json", + "scene_id": "vortex_off/scene_000007", + "seed": 21330909, + "shared_state": "vortex_off/scene_000007/shared_state.npz", + "video": "vortex_off/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000007/right.json", + "scene_id": "vortex_off/scene_000007", + "seed": 21330909, + "shared_state": "vortex_off/scene_000007/shared_state.npz", + "video": "vortex_off/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000008/left.json", + "scene_id": "vortex_off/scene_000008", + "seed": 21340910, + "shared_state": "vortex_off/scene_000008/shared_state.npz", + "video": "vortex_off/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000008/front.json", + "scene_id": "vortex_off/scene_000008", + "seed": 21340910, + "shared_state": "vortex_off/scene_000008/shared_state.npz", + "video": "vortex_off/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000008/right.json", + "scene_id": "vortex_off/scene_000008", + "seed": 21340910, + "shared_state": "vortex_off/scene_000008/shared_state.npz", + "video": "vortex_off/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000009/left.json", + "scene_id": "vortex_off/scene_000009", + "seed": 21350909, + "shared_state": "vortex_off/scene_000009/shared_state.npz", + "video": "vortex_off/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000009/front.json", + "scene_id": "vortex_off/scene_000009", + "seed": 21350909, + "shared_state": "vortex_off/scene_000009/shared_state.npz", + "video": "vortex_off/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000009/right.json", + "scene_id": "vortex_off/scene_000009", + "seed": 21350909, + "shared_state": "vortex_off/scene_000009/shared_state.npz", + "video": "vortex_off/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000010/left.json", + "scene_id": "vortex_off/scene_000010", + "seed": 21360909, + "shared_state": "vortex_off/scene_000010/shared_state.npz", + "video": "vortex_off/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000010/front.json", + "scene_id": "vortex_off/scene_000010", + "seed": 21360909, + "shared_state": "vortex_off/scene_000010/shared_state.npz", + "video": "vortex_off/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000010/right.json", + "scene_id": "vortex_off/scene_000010", + "seed": 21360909, + "shared_state": "vortex_off/scene_000010/shared_state.npz", + "video": "vortex_off/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000011/left.json", + "scene_id": "vortex_off/scene_000011", + "seed": 21370909, + "shared_state": "vortex_off/scene_000011/shared_state.npz", + "video": "vortex_off/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000011/front.json", + "scene_id": "vortex_off/scene_000011", + "seed": 21370909, + "shared_state": "vortex_off/scene_000011/shared_state.npz", + "video": "vortex_off/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000011/right.json", + "scene_id": "vortex_off/scene_000011", + "seed": 21370909, + "shared_state": "vortex_off/scene_000011/shared_state.npz", + "video": "vortex_off/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000012/left.json", + "scene_id": "vortex_off/scene_000012", + "seed": 21380910, + "shared_state": "vortex_off/scene_000012/shared_state.npz", + "video": "vortex_off/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000012/front.json", + "scene_id": "vortex_off/scene_000012", + "seed": 21380910, + "shared_state": "vortex_off/scene_000012/shared_state.npz", + "video": "vortex_off/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000012/right.json", + "scene_id": "vortex_off/scene_000012", + "seed": 21380910, + "shared_state": "vortex_off/scene_000012/shared_state.npz", + "video": "vortex_off/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000013/left.json", + "scene_id": "vortex_off/scene_000013", + "seed": 21390909, + "shared_state": "vortex_off/scene_000013/shared_state.npz", + "video": "vortex_off/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000013/front.json", + "scene_id": "vortex_off/scene_000013", + "seed": 21390909, + "shared_state": "vortex_off/scene_000013/shared_state.npz", + "video": "vortex_off/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000013/right.json", + "scene_id": "vortex_off/scene_000013", + "seed": 21390909, + "shared_state": "vortex_off/scene_000013/shared_state.npz", + "video": "vortex_off/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000014/left.json", + "scene_id": "vortex_off/scene_000014", + "seed": 21400909, + "shared_state": "vortex_off/scene_000014/shared_state.npz", + "video": "vortex_off/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000014/front.json", + "scene_id": "vortex_off/scene_000014", + "seed": 21400909, + "shared_state": "vortex_off/scene_000014/shared_state.npz", + "video": "vortex_off/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000014/right.json", + "scene_id": "vortex_off/scene_000014", + "seed": 21400909, + "shared_state": "vortex_off/scene_000014/shared_state.npz", + "video": "vortex_off/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000015/left.json", + "scene_id": "vortex_off/scene_000015", + "seed": 21410909, + "shared_state": "vortex_off/scene_000015/shared_state.npz", + "video": "vortex_off/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000015/front.json", + "scene_id": "vortex_off/scene_000015", + "seed": 21410909, + "shared_state": "vortex_off/scene_000015/shared_state.npz", + "video": "vortex_off/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000015/right.json", + "scene_id": "vortex_off/scene_000015", + "seed": 21410909, + "shared_state": "vortex_off/scene_000015/shared_state.npz", + "video": "vortex_off/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000016/left.json", + "scene_id": "vortex_off/scene_000016", + "seed": 21420909, + "shared_state": "vortex_off/scene_000016/shared_state.npz", + "video": "vortex_off/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000016/front.json", + "scene_id": "vortex_off/scene_000016", + "seed": 21420909, + "shared_state": "vortex_off/scene_000016/shared_state.npz", + "video": "vortex_off/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000016/right.json", + "scene_id": "vortex_off/scene_000016", + "seed": 21420909, + "shared_state": "vortex_off/scene_000016/shared_state.npz", + "video": "vortex_off/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000017/left.json", + "scene_id": "vortex_off/scene_000017", + "seed": 21430909, + "shared_state": "vortex_off/scene_000017/shared_state.npz", + "video": "vortex_off/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000017/front.json", + "scene_id": "vortex_off/scene_000017", + "seed": 21430909, + "shared_state": "vortex_off/scene_000017/shared_state.npz", + "video": "vortex_off/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000017/right.json", + "scene_id": "vortex_off/scene_000017", + "seed": 21430909, + "shared_state": "vortex_off/scene_000017/shared_state.npz", + "video": "vortex_off/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000018/left.json", + "scene_id": "vortex_off/scene_000018", + "seed": 21440910, + "shared_state": "vortex_off/scene_000018/shared_state.npz", + "video": "vortex_off/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000018/front.json", + "scene_id": "vortex_off/scene_000018", + "seed": 21440910, + "shared_state": "vortex_off/scene_000018/shared_state.npz", + "video": "vortex_off/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000018/right.json", + "scene_id": "vortex_off/scene_000018", + "seed": 21440910, + "shared_state": "vortex_off/scene_000018/shared_state.npz", + "video": "vortex_off/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000019/left.json", + "scene_id": "vortex_off/scene_000019", + "seed": 21450909, + "shared_state": "vortex_off/scene_000019/shared_state.npz", + "video": "vortex_off/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000019/front.json", + "scene_id": "vortex_off/scene_000019", + "seed": 21450909, + "shared_state": "vortex_off/scene_000019/shared_state.npz", + "video": "vortex_off/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000019/right.json", + "scene_id": "vortex_off/scene_000019", + "seed": 21450909, + "shared_state": "vortex_off/scene_000019/shared_state.npz", + "video": "vortex_off/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000020/left.json", + "scene_id": "vortex_off/scene_000020", + "seed": 21460909, + "shared_state": "vortex_off/scene_000020/shared_state.npz", + "video": "vortex_off/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000020/front.json", + "scene_id": "vortex_off/scene_000020", + "seed": 21460909, + "shared_state": "vortex_off/scene_000020/shared_state.npz", + "video": "vortex_off/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000020/right.json", + "scene_id": "vortex_off/scene_000020", + "seed": 21460909, + "shared_state": "vortex_off/scene_000020/shared_state.npz", + "video": "vortex_off/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000021/left.json", + "scene_id": "vortex_off/scene_000021", + "seed": 21470909, + "shared_state": "vortex_off/scene_000021/shared_state.npz", + "video": "vortex_off/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000021/front.json", + "scene_id": "vortex_off/scene_000021", + "seed": 21470909, + "shared_state": "vortex_off/scene_000021/shared_state.npz", + "video": "vortex_off/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000021/right.json", + "scene_id": "vortex_off/scene_000021", + "seed": 21470909, + "shared_state": "vortex_off/scene_000021/shared_state.npz", + "video": "vortex_off/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000022/left.json", + "scene_id": "vortex_off/scene_000022", + "seed": 21480909, + "shared_state": "vortex_off/scene_000022/shared_state.npz", + "video": "vortex_off/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000022/front.json", + "scene_id": "vortex_off/scene_000022", + "seed": 21480909, + "shared_state": "vortex_off/scene_000022/shared_state.npz", + "video": "vortex_off/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000022/right.json", + "scene_id": "vortex_off/scene_000022", + "seed": 21480909, + "shared_state": "vortex_off/scene_000022/shared_state.npz", + "video": "vortex_off/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000023/left.json", + "scene_id": "vortex_off/scene_000023", + "seed": 21490911, + "shared_state": "vortex_off/scene_000023/shared_state.npz", + "video": "vortex_off/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000023/front.json", + "scene_id": "vortex_off/scene_000023", + "seed": 21490911, + "shared_state": "vortex_off/scene_000023/shared_state.npz", + "video": "vortex_off/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000023/right.json", + "scene_id": "vortex_off/scene_000023", + "seed": 21490911, + "shared_state": "vortex_off/scene_000023/shared_state.npz", + "video": "vortex_off/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000024/left.json", + "scene_id": "vortex_off/scene_000024", + "seed": 21500909, + "shared_state": "vortex_off/scene_000024/shared_state.npz", + "video": "vortex_off/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000024/front.json", + "scene_id": "vortex_off/scene_000024", + "seed": 21500909, + "shared_state": "vortex_off/scene_000024/shared_state.npz", + "video": "vortex_off/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000024/right.json", + "scene_id": "vortex_off/scene_000024", + "seed": 21500909, + "shared_state": "vortex_off/scene_000024/shared_state.npz", + "video": "vortex_off/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000025/left.json", + "scene_id": "vortex_off/scene_000025", + "seed": 21510909, + "shared_state": "vortex_off/scene_000025/shared_state.npz", + "video": "vortex_off/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000025/front.json", + "scene_id": "vortex_off/scene_000025", + "seed": 21510909, + "shared_state": "vortex_off/scene_000025/shared_state.npz", + "video": "vortex_off/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000025/right.json", + "scene_id": "vortex_off/scene_000025", + "seed": 21510909, + "shared_state": "vortex_off/scene_000025/shared_state.npz", + "video": "vortex_off/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000026/left.json", + "scene_id": "vortex_off/scene_000026", + "seed": 21520909, + "shared_state": "vortex_off/scene_000026/shared_state.npz", + "video": "vortex_off/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000026/front.json", + "scene_id": "vortex_off/scene_000026", + "seed": 21520909, + "shared_state": "vortex_off/scene_000026/shared_state.npz", + "video": "vortex_off/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000026/right.json", + "scene_id": "vortex_off/scene_000026", + "seed": 21520909, + "shared_state": "vortex_off/scene_000026/shared_state.npz", + "video": "vortex_off/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000027/left.json", + "scene_id": "vortex_off/scene_000027", + "seed": 21530909, + "shared_state": "vortex_off/scene_000027/shared_state.npz", + "video": "vortex_off/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000027/front.json", + "scene_id": "vortex_off/scene_000027", + "seed": 21530909, + "shared_state": "vortex_off/scene_000027/shared_state.npz", + "video": "vortex_off/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000027/right.json", + "scene_id": "vortex_off/scene_000027", + "seed": 21530909, + "shared_state": "vortex_off/scene_000027/shared_state.npz", + "video": "vortex_off/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000028/left.json", + "scene_id": "vortex_off/scene_000028", + "seed": 21540909, + "shared_state": "vortex_off/scene_000028/shared_state.npz", + "video": "vortex_off/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000028/front.json", + "scene_id": "vortex_off/scene_000028", + "seed": 21540909, + "shared_state": "vortex_off/scene_000028/shared_state.npz", + "video": "vortex_off/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000028/right.json", + "scene_id": "vortex_off/scene_000028", + "seed": 21540909, + "shared_state": "vortex_off/scene_000028/shared_state.npz", + "video": "vortex_off/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000029/left.json", + "scene_id": "vortex_off/scene_000029", + "seed": 21550910, + "shared_state": "vortex_off/scene_000029/shared_state.npz", + "video": "vortex_off/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000029/front.json", + "scene_id": "vortex_off/scene_000029", + "seed": 21550910, + "shared_state": "vortex_off/scene_000029/shared_state.npz", + "video": "vortex_off/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000029/right.json", + "scene_id": "vortex_off/scene_000029", + "seed": 21550910, + "shared_state": "vortex_off/scene_000029/shared_state.npz", + "video": "vortex_off/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000030/left.json", + "scene_id": "vortex_off/scene_000030", + "seed": 21560910, + "shared_state": "vortex_off/scene_000030/shared_state.npz", + "video": "vortex_off/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000030/front.json", + "scene_id": "vortex_off/scene_000030", + "seed": 21560910, + "shared_state": "vortex_off/scene_000030/shared_state.npz", + "video": "vortex_off/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000030/right.json", + "scene_id": "vortex_off/scene_000030", + "seed": 21560910, + "shared_state": "vortex_off/scene_000030/shared_state.npz", + "video": "vortex_off/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000031/left.json", + "scene_id": "vortex_off/scene_000031", + "seed": 21570910, + "shared_state": "vortex_off/scene_000031/shared_state.npz", + "video": "vortex_off/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000031/front.json", + "scene_id": "vortex_off/scene_000031", + "seed": 21570910, + "shared_state": "vortex_off/scene_000031/shared_state.npz", + "video": "vortex_off/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000031/right.json", + "scene_id": "vortex_off/scene_000031", + "seed": 21570910, + "shared_state": "vortex_off/scene_000031/shared_state.npz", + "video": "vortex_off/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000032/left.json", + "scene_id": "vortex_off/scene_000032", + "seed": 21580909, + "shared_state": "vortex_off/scene_000032/shared_state.npz", + "video": "vortex_off/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000032/front.json", + "scene_id": "vortex_off/scene_000032", + "seed": 21580909, + "shared_state": "vortex_off/scene_000032/shared_state.npz", + "video": "vortex_off/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000032/right.json", + "scene_id": "vortex_off/scene_000032", + "seed": 21580909, + "shared_state": "vortex_off/scene_000032/shared_state.npz", + "video": "vortex_off/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000033/left.json", + "scene_id": "vortex_off/scene_000033", + "seed": 21590910, + "shared_state": "vortex_off/scene_000033/shared_state.npz", + "video": "vortex_off/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000033/front.json", + "scene_id": "vortex_off/scene_000033", + "seed": 21590910, + "shared_state": "vortex_off/scene_000033/shared_state.npz", + "video": "vortex_off/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000033/right.json", + "scene_id": "vortex_off/scene_000033", + "seed": 21590910, + "shared_state": "vortex_off/scene_000033/shared_state.npz", + "video": "vortex_off/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000034/left.json", + "scene_id": "vortex_off/scene_000034", + "seed": 21600909, + "shared_state": "vortex_off/scene_000034/shared_state.npz", + "video": "vortex_off/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000034/front.json", + "scene_id": "vortex_off/scene_000034", + "seed": 21600909, + "shared_state": "vortex_off/scene_000034/shared_state.npz", + "video": "vortex_off/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000034/right.json", + "scene_id": "vortex_off/scene_000034", + "seed": 21600909, + "shared_state": "vortex_off/scene_000034/shared_state.npz", + "video": "vortex_off/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000035/left.json", + "scene_id": "vortex_off/scene_000035", + "seed": 21610909, + "shared_state": "vortex_off/scene_000035/shared_state.npz", + "video": "vortex_off/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000035/front.json", + "scene_id": "vortex_off/scene_000035", + "seed": 21610909, + "shared_state": "vortex_off/scene_000035/shared_state.npz", + "video": "vortex_off/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000035/right.json", + "scene_id": "vortex_off/scene_000035", + "seed": 21610909, + "shared_state": "vortex_off/scene_000035/shared_state.npz", + "video": "vortex_off/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000036/left.json", + "scene_id": "vortex_off/scene_000036", + "seed": 21620910, + "shared_state": "vortex_off/scene_000036/shared_state.npz", + "video": "vortex_off/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000036/front.json", + "scene_id": "vortex_off/scene_000036", + "seed": 21620910, + "shared_state": "vortex_off/scene_000036/shared_state.npz", + "video": "vortex_off/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000036/right.json", + "scene_id": "vortex_off/scene_000036", + "seed": 21620910, + "shared_state": "vortex_off/scene_000036/shared_state.npz", + "video": "vortex_off/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000037/left.json", + "scene_id": "vortex_off/scene_000037", + "seed": 21630909, + "shared_state": "vortex_off/scene_000037/shared_state.npz", + "video": "vortex_off/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000037/front.json", + "scene_id": "vortex_off/scene_000037", + "seed": 21630909, + "shared_state": "vortex_off/scene_000037/shared_state.npz", + "video": "vortex_off/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000037/right.json", + "scene_id": "vortex_off/scene_000037", + "seed": 21630909, + "shared_state": "vortex_off/scene_000037/shared_state.npz", + "video": "vortex_off/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000038/left.json", + "scene_id": "vortex_off/scene_000038", + "seed": 21640909, + "shared_state": "vortex_off/scene_000038/shared_state.npz", + "video": "vortex_off/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000038/front.json", + "scene_id": "vortex_off/scene_000038", + "seed": 21640909, + "shared_state": "vortex_off/scene_000038/shared_state.npz", + "video": "vortex_off/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000038/right.json", + "scene_id": "vortex_off/scene_000038", + "seed": 21640909, + "shared_state": "vortex_off/scene_000038/shared_state.npz", + "video": "vortex_off/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000039/left.json", + "scene_id": "vortex_off/scene_000039", + "seed": 21650909, + "shared_state": "vortex_off/scene_000039/shared_state.npz", + "video": "vortex_off/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000039/front.json", + "scene_id": "vortex_off/scene_000039", + "seed": 21650909, + "shared_state": "vortex_off/scene_000039/shared_state.npz", + "video": "vortex_off/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000039/right.json", + "scene_id": "vortex_off/scene_000039", + "seed": 21650909, + "shared_state": "vortex_off/scene_000039/shared_state.npz", + "video": "vortex_off/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000040/left.json", + "scene_id": "vortex_off/scene_000040", + "seed": 21660910, + "shared_state": "vortex_off/scene_000040/shared_state.npz", + "video": "vortex_off/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000040/front.json", + "scene_id": "vortex_off/scene_000040", + "seed": 21660910, + "shared_state": "vortex_off/scene_000040/shared_state.npz", + "video": "vortex_off/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000040/right.json", + "scene_id": "vortex_off/scene_000040", + "seed": 21660910, + "shared_state": "vortex_off/scene_000040/shared_state.npz", + "video": "vortex_off/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000041/left.json", + "scene_id": "vortex_off/scene_000041", + "seed": 21670909, + "shared_state": "vortex_off/scene_000041/shared_state.npz", + "video": "vortex_off/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000041/front.json", + "scene_id": "vortex_off/scene_000041", + "seed": 21670909, + "shared_state": "vortex_off/scene_000041/shared_state.npz", + "video": "vortex_off/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000041/right.json", + "scene_id": "vortex_off/scene_000041", + "seed": 21670909, + "shared_state": "vortex_off/scene_000041/shared_state.npz", + "video": "vortex_off/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000042/left.json", + "scene_id": "vortex_off/scene_000042", + "seed": 21680910, + "shared_state": "vortex_off/scene_000042/shared_state.npz", + "video": "vortex_off/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000042/front.json", + "scene_id": "vortex_off/scene_000042", + "seed": 21680910, + "shared_state": "vortex_off/scene_000042/shared_state.npz", + "video": "vortex_off/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000042/right.json", + "scene_id": "vortex_off/scene_000042", + "seed": 21680910, + "shared_state": "vortex_off/scene_000042/shared_state.npz", + "video": "vortex_off/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000043/left.json", + "scene_id": "vortex_off/scene_000043", + "seed": 21690909, + "shared_state": "vortex_off/scene_000043/shared_state.npz", + "video": "vortex_off/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000043/front.json", + "scene_id": "vortex_off/scene_000043", + "seed": 21690909, + "shared_state": "vortex_off/scene_000043/shared_state.npz", + "video": "vortex_off/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000043/right.json", + "scene_id": "vortex_off/scene_000043", + "seed": 21690909, + "shared_state": "vortex_off/scene_000043/shared_state.npz", + "video": "vortex_off/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000044/left.json", + "scene_id": "vortex_off/scene_000044", + "seed": 21700909, + "shared_state": "vortex_off/scene_000044/shared_state.npz", + "video": "vortex_off/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000044/front.json", + "scene_id": "vortex_off/scene_000044", + "seed": 21700909, + "shared_state": "vortex_off/scene_000044/shared_state.npz", + "video": "vortex_off/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000044/right.json", + "scene_id": "vortex_off/scene_000044", + "seed": 21700909, + "shared_state": "vortex_off/scene_000044/shared_state.npz", + "video": "vortex_off/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000045/left.json", + "scene_id": "vortex_off/scene_000045", + "seed": 21710913, + "shared_state": "vortex_off/scene_000045/shared_state.npz", + "video": "vortex_off/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000045/front.json", + "scene_id": "vortex_off/scene_000045", + "seed": 21710913, + "shared_state": "vortex_off/scene_000045/shared_state.npz", + "video": "vortex_off/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000045/right.json", + "scene_id": "vortex_off/scene_000045", + "seed": 21710913, + "shared_state": "vortex_off/scene_000045/shared_state.npz", + "video": "vortex_off/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000046/left.json", + "scene_id": "vortex_off/scene_000046", + "seed": 21720909, + "shared_state": "vortex_off/scene_000046/shared_state.npz", + "video": "vortex_off/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000046/front.json", + "scene_id": "vortex_off/scene_000046", + "seed": 21720909, + "shared_state": "vortex_off/scene_000046/shared_state.npz", + "video": "vortex_off/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000046/right.json", + "scene_id": "vortex_off/scene_000046", + "seed": 21720909, + "shared_state": "vortex_off/scene_000046/shared_state.npz", + "video": "vortex_off/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000047/left.json", + "scene_id": "vortex_off/scene_000047", + "seed": 21730909, + "shared_state": "vortex_off/scene_000047/shared_state.npz", + "video": "vortex_off/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000047/front.json", + "scene_id": "vortex_off/scene_000047", + "seed": 21730909, + "shared_state": "vortex_off/scene_000047/shared_state.npz", + "video": "vortex_off/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000047/right.json", + "scene_id": "vortex_off/scene_000047", + "seed": 21730909, + "shared_state": "vortex_off/scene_000047/shared_state.npz", + "video": "vortex_off/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000048/left.json", + "scene_id": "vortex_off/scene_000048", + "seed": 21740909, + "shared_state": "vortex_off/scene_000048/shared_state.npz", + "video": "vortex_off/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000048/front.json", + "scene_id": "vortex_off/scene_000048", + "seed": 21740909, + "shared_state": "vortex_off/scene_000048/shared_state.npz", + "video": "vortex_off/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000048/right.json", + "scene_id": "vortex_off/scene_000048", + "seed": 21740909, + "shared_state": "vortex_off/scene_000048/shared_state.npz", + "video": "vortex_off/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000049/left.json", + "scene_id": "vortex_off/scene_000049", + "seed": 21750909, + "shared_state": "vortex_off/scene_000049/shared_state.npz", + "video": "vortex_off/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000049/front.json", + "scene_id": "vortex_off/scene_000049", + "seed": 21750909, + "shared_state": "vortex_off/scene_000049/shared_state.npz", + "video": "vortex_off/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000049/right.json", + "scene_id": "vortex_off/scene_000049", + "seed": 21750909, + "shared_state": "vortex_off/scene_000049/shared_state.npz", + "video": "vortex_off/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000050/left.json", + "scene_id": "vortex_off/scene_000050", + "seed": 21760909, + "shared_state": "vortex_off/scene_000050/shared_state.npz", + "video": "vortex_off/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000050/front.json", + "scene_id": "vortex_off/scene_000050", + "seed": 21760909, + "shared_state": "vortex_off/scene_000050/shared_state.npz", + "video": "vortex_off/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000050/right.json", + "scene_id": "vortex_off/scene_000050", + "seed": 21760909, + "shared_state": "vortex_off/scene_000050/shared_state.npz", + "video": "vortex_off/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000051/left.json", + "scene_id": "vortex_off/scene_000051", + "seed": 21770909, + "shared_state": "vortex_off/scene_000051/shared_state.npz", + "video": "vortex_off/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000051/front.json", + "scene_id": "vortex_off/scene_000051", + "seed": 21770909, + "shared_state": "vortex_off/scene_000051/shared_state.npz", + "video": "vortex_off/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000051/right.json", + "scene_id": "vortex_off/scene_000051", + "seed": 21770909, + "shared_state": "vortex_off/scene_000051/shared_state.npz", + "video": "vortex_off/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000052/left.json", + "scene_id": "vortex_off/scene_000052", + "seed": 21780909, + "shared_state": "vortex_off/scene_000052/shared_state.npz", + "video": "vortex_off/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000052/front.json", + "scene_id": "vortex_off/scene_000052", + "seed": 21780909, + "shared_state": "vortex_off/scene_000052/shared_state.npz", + "video": "vortex_off/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000052/right.json", + "scene_id": "vortex_off/scene_000052", + "seed": 21780909, + "shared_state": "vortex_off/scene_000052/shared_state.npz", + "video": "vortex_off/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000053/left.json", + "scene_id": "vortex_off/scene_000053", + "seed": 21790909, + "shared_state": "vortex_off/scene_000053/shared_state.npz", + "video": "vortex_off/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000053/front.json", + "scene_id": "vortex_off/scene_000053", + "seed": 21790909, + "shared_state": "vortex_off/scene_000053/shared_state.npz", + "video": "vortex_off/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000053/right.json", + "scene_id": "vortex_off/scene_000053", + "seed": 21790909, + "shared_state": "vortex_off/scene_000053/shared_state.npz", + "video": "vortex_off/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000054/left.json", + "scene_id": "vortex_off/scene_000054", + "seed": 21800909, + "shared_state": "vortex_off/scene_000054/shared_state.npz", + "video": "vortex_off/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000054/front.json", + "scene_id": "vortex_off/scene_000054", + "seed": 21800909, + "shared_state": "vortex_off/scene_000054/shared_state.npz", + "video": "vortex_off/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000054/right.json", + "scene_id": "vortex_off/scene_000054", + "seed": 21800909, + "shared_state": "vortex_off/scene_000054/shared_state.npz", + "video": "vortex_off/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000055/left.json", + "scene_id": "vortex_off/scene_000055", + "seed": 21810909, + "shared_state": "vortex_off/scene_000055/shared_state.npz", + "video": "vortex_off/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000055/front.json", + "scene_id": "vortex_off/scene_000055", + "seed": 21810909, + "shared_state": "vortex_off/scene_000055/shared_state.npz", + "video": "vortex_off/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000055/right.json", + "scene_id": "vortex_off/scene_000055", + "seed": 21810909, + "shared_state": "vortex_off/scene_000055/shared_state.npz", + "video": "vortex_off/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000056/left.json", + "scene_id": "vortex_off/scene_000056", + "seed": 21820910, + "shared_state": "vortex_off/scene_000056/shared_state.npz", + "video": "vortex_off/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000056/front.json", + "scene_id": "vortex_off/scene_000056", + "seed": 21820910, + "shared_state": "vortex_off/scene_000056/shared_state.npz", + "video": "vortex_off/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000056/right.json", + "scene_id": "vortex_off/scene_000056", + "seed": 21820910, + "shared_state": "vortex_off/scene_000056/shared_state.npz", + "video": "vortex_off/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000057/left.json", + "scene_id": "vortex_off/scene_000057", + "seed": 21830910, + "shared_state": "vortex_off/scene_000057/shared_state.npz", + "video": "vortex_off/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000057/front.json", + "scene_id": "vortex_off/scene_000057", + "seed": 21830910, + "shared_state": "vortex_off/scene_000057/shared_state.npz", + "video": "vortex_off/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000057/right.json", + "scene_id": "vortex_off/scene_000057", + "seed": 21830910, + "shared_state": "vortex_off/scene_000057/shared_state.npz", + "video": "vortex_off/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000058/left.json", + "scene_id": "vortex_off/scene_000058", + "seed": 21840909, + "shared_state": "vortex_off/scene_000058/shared_state.npz", + "video": "vortex_off/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000058/front.json", + "scene_id": "vortex_off/scene_000058", + "seed": 21840909, + "shared_state": "vortex_off/scene_000058/shared_state.npz", + "video": "vortex_off/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000058/right.json", + "scene_id": "vortex_off/scene_000058", + "seed": 21840909, + "shared_state": "vortex_off/scene_000058/shared_state.npz", + "video": "vortex_off/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000059/left.json", + "scene_id": "vortex_off/scene_000059", + "seed": 21850910, + "shared_state": "vortex_off/scene_000059/shared_state.npz", + "video": "vortex_off/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000059/front.json", + "scene_id": "vortex_off/scene_000059", + "seed": 21850910, + "shared_state": "vortex_off/scene_000059/shared_state.npz", + "video": "vortex_off/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000059/right.json", + "scene_id": "vortex_off/scene_000059", + "seed": 21850910, + "shared_state": "vortex_off/scene_000059/shared_state.npz", + "video": "vortex_off/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000060/left.json", + "scene_id": "vortex_off/scene_000060", + "seed": 21860909, + "shared_state": "vortex_off/scene_000060/shared_state.npz", + "video": "vortex_off/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000060/front.json", + "scene_id": "vortex_off/scene_000060", + "seed": 21860909, + "shared_state": "vortex_off/scene_000060/shared_state.npz", + "video": "vortex_off/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000060/right.json", + "scene_id": "vortex_off/scene_000060", + "seed": 21860909, + "shared_state": "vortex_off/scene_000060/shared_state.npz", + "video": "vortex_off/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000061/left.json", + "scene_id": "vortex_off/scene_000061", + "seed": 21870909, + "shared_state": "vortex_off/scene_000061/shared_state.npz", + "video": "vortex_off/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000061/front.json", + "scene_id": "vortex_off/scene_000061", + "seed": 21870909, + "shared_state": "vortex_off/scene_000061/shared_state.npz", + "video": "vortex_off/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000061/right.json", + "scene_id": "vortex_off/scene_000061", + "seed": 21870909, + "shared_state": "vortex_off/scene_000061/shared_state.npz", + "video": "vortex_off/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000062/left.json", + "scene_id": "vortex_off/scene_000062", + "seed": 21880910, + "shared_state": "vortex_off/scene_000062/shared_state.npz", + "video": "vortex_off/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000062/front.json", + "scene_id": "vortex_off/scene_000062", + "seed": 21880910, + "shared_state": "vortex_off/scene_000062/shared_state.npz", + "video": "vortex_off/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000062/right.json", + "scene_id": "vortex_off/scene_000062", + "seed": 21880910, + "shared_state": "vortex_off/scene_000062/shared_state.npz", + "video": "vortex_off/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000063/left.json", + "scene_id": "vortex_off/scene_000063", + "seed": 21890910, + "shared_state": "vortex_off/scene_000063/shared_state.npz", + "video": "vortex_off/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000063/front.json", + "scene_id": "vortex_off/scene_000063", + "seed": 21890910, + "shared_state": "vortex_off/scene_000063/shared_state.npz", + "video": "vortex_off/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000063/right.json", + "scene_id": "vortex_off/scene_000063", + "seed": 21890910, + "shared_state": "vortex_off/scene_000063/shared_state.npz", + "video": "vortex_off/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000064/left.json", + "scene_id": "vortex_off/scene_000064", + "seed": 21900910, + "shared_state": "vortex_off/scene_000064/shared_state.npz", + "video": "vortex_off/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000064/front.json", + "scene_id": "vortex_off/scene_000064", + "seed": 21900910, + "shared_state": "vortex_off/scene_000064/shared_state.npz", + "video": "vortex_off/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000064/right.json", + "scene_id": "vortex_off/scene_000064", + "seed": 21900910, + "shared_state": "vortex_off/scene_000064/shared_state.npz", + "video": "vortex_off/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000065/left.json", + "scene_id": "vortex_off/scene_000065", + "seed": 21910909, + "shared_state": "vortex_off/scene_000065/shared_state.npz", + "video": "vortex_off/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000065/front.json", + "scene_id": "vortex_off/scene_000065", + "seed": 21910909, + "shared_state": "vortex_off/scene_000065/shared_state.npz", + "video": "vortex_off/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000065/right.json", + "scene_id": "vortex_off/scene_000065", + "seed": 21910909, + "shared_state": "vortex_off/scene_000065/shared_state.npz", + "video": "vortex_off/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000066/left.json", + "scene_id": "vortex_off/scene_000066", + "seed": 21920910, + "shared_state": "vortex_off/scene_000066/shared_state.npz", + "video": "vortex_off/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000066/front.json", + "scene_id": "vortex_off/scene_000066", + "seed": 21920910, + "shared_state": "vortex_off/scene_000066/shared_state.npz", + "video": "vortex_off/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000066/right.json", + "scene_id": "vortex_off/scene_000066", + "seed": 21920910, + "shared_state": "vortex_off/scene_000066/shared_state.npz", + "video": "vortex_off/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000067/left.json", + "scene_id": "vortex_off/scene_000067", + "seed": 21930911, + "shared_state": "vortex_off/scene_000067/shared_state.npz", + "video": "vortex_off/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000067/front.json", + "scene_id": "vortex_off/scene_000067", + "seed": 21930911, + "shared_state": "vortex_off/scene_000067/shared_state.npz", + "video": "vortex_off/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000067/right.json", + "scene_id": "vortex_off/scene_000067", + "seed": 21930911, + "shared_state": "vortex_off/scene_000067/shared_state.npz", + "video": "vortex_off/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000068/left.json", + "scene_id": "vortex_off/scene_000068", + "seed": 21940910, + "shared_state": "vortex_off/scene_000068/shared_state.npz", + "video": "vortex_off/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000068/front.json", + "scene_id": "vortex_off/scene_000068", + "seed": 21940910, + "shared_state": "vortex_off/scene_000068/shared_state.npz", + "video": "vortex_off/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000068/right.json", + "scene_id": "vortex_off/scene_000068", + "seed": 21940910, + "shared_state": "vortex_off/scene_000068/shared_state.npz", + "video": "vortex_off/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000069/left.json", + "scene_id": "vortex_off/scene_000069", + "seed": 21950910, + "shared_state": "vortex_off/scene_000069/shared_state.npz", + "video": "vortex_off/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000069/front.json", + "scene_id": "vortex_off/scene_000069", + "seed": 21950910, + "shared_state": "vortex_off/scene_000069/shared_state.npz", + "video": "vortex_off/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000069/right.json", + "scene_id": "vortex_off/scene_000069", + "seed": 21950910, + "shared_state": "vortex_off/scene_000069/shared_state.npz", + "video": "vortex_off/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000070/left.json", + "scene_id": "vortex_off/scene_000070", + "seed": 21960911, + "shared_state": "vortex_off/scene_000070/shared_state.npz", + "video": "vortex_off/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000070/front.json", + "scene_id": "vortex_off/scene_000070", + "seed": 21960911, + "shared_state": "vortex_off/scene_000070/shared_state.npz", + "video": "vortex_off/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000070/right.json", + "scene_id": "vortex_off/scene_000070", + "seed": 21960911, + "shared_state": "vortex_off/scene_000070/shared_state.npz", + "video": "vortex_off/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000071/left.json", + "scene_id": "vortex_off/scene_000071", + "seed": 21970909, + "shared_state": "vortex_off/scene_000071/shared_state.npz", + "video": "vortex_off/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000071/front.json", + "scene_id": "vortex_off/scene_000071", + "seed": 21970909, + "shared_state": "vortex_off/scene_000071/shared_state.npz", + "video": "vortex_off/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000071/right.json", + "scene_id": "vortex_off/scene_000071", + "seed": 21970909, + "shared_state": "vortex_off/scene_000071/shared_state.npz", + "video": "vortex_off/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000072/left.json", + "scene_id": "vortex_off/scene_000072", + "seed": 21980909, + "shared_state": "vortex_off/scene_000072/shared_state.npz", + "video": "vortex_off/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000072/front.json", + "scene_id": "vortex_off/scene_000072", + "seed": 21980909, + "shared_state": "vortex_off/scene_000072/shared_state.npz", + "video": "vortex_off/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000072/right.json", + "scene_id": "vortex_off/scene_000072", + "seed": 21980909, + "shared_state": "vortex_off/scene_000072/shared_state.npz", + "video": "vortex_off/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000073/left.json", + "scene_id": "vortex_off/scene_000073", + "seed": 21990910, + "shared_state": "vortex_off/scene_000073/shared_state.npz", + "video": "vortex_off/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000073/front.json", + "scene_id": "vortex_off/scene_000073", + "seed": 21990910, + "shared_state": "vortex_off/scene_000073/shared_state.npz", + "video": "vortex_off/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000073/right.json", + "scene_id": "vortex_off/scene_000073", + "seed": 21990910, + "shared_state": "vortex_off/scene_000073/shared_state.npz", + "video": "vortex_off/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000074/left.json", + "scene_id": "vortex_off/scene_000074", + "seed": 22000909, + "shared_state": "vortex_off/scene_000074/shared_state.npz", + "video": "vortex_off/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000074/front.json", + "scene_id": "vortex_off/scene_000074", + "seed": 22000909, + "shared_state": "vortex_off/scene_000074/shared_state.npz", + "video": "vortex_off/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000074/right.json", + "scene_id": "vortex_off/scene_000074", + "seed": 22000909, + "shared_state": "vortex_off/scene_000074/shared_state.npz", + "video": "vortex_off/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000075/left.json", + "scene_id": "vortex_off/scene_000075", + "seed": 22010909, + "shared_state": "vortex_off/scene_000075/shared_state.npz", + "video": "vortex_off/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000075/front.json", + "scene_id": "vortex_off/scene_000075", + "seed": 22010909, + "shared_state": "vortex_off/scene_000075/shared_state.npz", + "video": "vortex_off/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000075/right.json", + "scene_id": "vortex_off/scene_000075", + "seed": 22010909, + "shared_state": "vortex_off/scene_000075/shared_state.npz", + "video": "vortex_off/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000076/left.json", + "scene_id": "vortex_off/scene_000076", + "seed": 22020909, + "shared_state": "vortex_off/scene_000076/shared_state.npz", + "video": "vortex_off/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000076/front.json", + "scene_id": "vortex_off/scene_000076", + "seed": 22020909, + "shared_state": "vortex_off/scene_000076/shared_state.npz", + "video": "vortex_off/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000076/right.json", + "scene_id": "vortex_off/scene_000076", + "seed": 22020909, + "shared_state": "vortex_off/scene_000076/shared_state.npz", + "video": "vortex_off/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000077/left.json", + "scene_id": "vortex_off/scene_000077", + "seed": 22030909, + "shared_state": "vortex_off/scene_000077/shared_state.npz", + "video": "vortex_off/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000077/front.json", + "scene_id": "vortex_off/scene_000077", + "seed": 22030909, + "shared_state": "vortex_off/scene_000077/shared_state.npz", + "video": "vortex_off/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000077/right.json", + "scene_id": "vortex_off/scene_000077", + "seed": 22030909, + "shared_state": "vortex_off/scene_000077/shared_state.npz", + "video": "vortex_off/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000078/left.json", + "scene_id": "vortex_off/scene_000078", + "seed": 22040910, + "shared_state": "vortex_off/scene_000078/shared_state.npz", + "video": "vortex_off/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000078/front.json", + "scene_id": "vortex_off/scene_000078", + "seed": 22040910, + "shared_state": "vortex_off/scene_000078/shared_state.npz", + "video": "vortex_off/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000078/right.json", + "scene_id": "vortex_off/scene_000078", + "seed": 22040910, + "shared_state": "vortex_off/scene_000078/shared_state.npz", + "video": "vortex_off/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000079/left.json", + "scene_id": "vortex_off/scene_000079", + "seed": 22050909, + "shared_state": "vortex_off/scene_000079/shared_state.npz", + "video": "vortex_off/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000079/front.json", + "scene_id": "vortex_off/scene_000079", + "seed": 22050909, + "shared_state": "vortex_off/scene_000079/shared_state.npz", + "video": "vortex_off/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000079/right.json", + "scene_id": "vortex_off/scene_000079", + "seed": 22050909, + "shared_state": "vortex_off/scene_000079/shared_state.npz", + "video": "vortex_off/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000080/left.json", + "scene_id": "vortex_off/scene_000080", + "seed": 22060910, + "shared_state": "vortex_off/scene_000080/shared_state.npz", + "video": "vortex_off/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000080/front.json", + "scene_id": "vortex_off/scene_000080", + "seed": 22060910, + "shared_state": "vortex_off/scene_000080/shared_state.npz", + "video": "vortex_off/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000080/right.json", + "scene_id": "vortex_off/scene_000080", + "seed": 22060910, + "shared_state": "vortex_off/scene_000080/shared_state.npz", + "video": "vortex_off/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000081/left.json", + "scene_id": "vortex_off/scene_000081", + "seed": 22070909, + "shared_state": "vortex_off/scene_000081/shared_state.npz", + "video": "vortex_off/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000081/front.json", + "scene_id": "vortex_off/scene_000081", + "seed": 22070909, + "shared_state": "vortex_off/scene_000081/shared_state.npz", + "video": "vortex_off/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000081/right.json", + "scene_id": "vortex_off/scene_000081", + "seed": 22070909, + "shared_state": "vortex_off/scene_000081/shared_state.npz", + "video": "vortex_off/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000082/left.json", + "scene_id": "vortex_off/scene_000082", + "seed": 22080909, + "shared_state": "vortex_off/scene_000082/shared_state.npz", + "video": "vortex_off/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000082/front.json", + "scene_id": "vortex_off/scene_000082", + "seed": 22080909, + "shared_state": "vortex_off/scene_000082/shared_state.npz", + "video": "vortex_off/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000082/right.json", + "scene_id": "vortex_off/scene_000082", + "seed": 22080909, + "shared_state": "vortex_off/scene_000082/shared_state.npz", + "video": "vortex_off/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000083/left.json", + "scene_id": "vortex_off/scene_000083", + "seed": 22090910, + "shared_state": "vortex_off/scene_000083/shared_state.npz", + "video": "vortex_off/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000083/front.json", + "scene_id": "vortex_off/scene_000083", + "seed": 22090910, + "shared_state": "vortex_off/scene_000083/shared_state.npz", + "video": "vortex_off/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000083/right.json", + "scene_id": "vortex_off/scene_000083", + "seed": 22090910, + "shared_state": "vortex_off/scene_000083/shared_state.npz", + "video": "vortex_off/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000084/left.json", + "scene_id": "vortex_off/scene_000084", + "seed": 22100909, + "shared_state": "vortex_off/scene_000084/shared_state.npz", + "video": "vortex_off/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000084/front.json", + "scene_id": "vortex_off/scene_000084", + "seed": 22100909, + "shared_state": "vortex_off/scene_000084/shared_state.npz", + "video": "vortex_off/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000084/right.json", + "scene_id": "vortex_off/scene_000084", + "seed": 22100909, + "shared_state": "vortex_off/scene_000084/shared_state.npz", + "video": "vortex_off/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000085/left.json", + "scene_id": "vortex_off/scene_000085", + "seed": 22110911, + "shared_state": "vortex_off/scene_000085/shared_state.npz", + "video": "vortex_off/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000085/front.json", + "scene_id": "vortex_off/scene_000085", + "seed": 22110911, + "shared_state": "vortex_off/scene_000085/shared_state.npz", + "video": "vortex_off/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000085/right.json", + "scene_id": "vortex_off/scene_000085", + "seed": 22110911, + "shared_state": "vortex_off/scene_000085/shared_state.npz", + "video": "vortex_off/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000086/left.json", + "scene_id": "vortex_off/scene_000086", + "seed": 22120909, + "shared_state": "vortex_off/scene_000086/shared_state.npz", + "video": "vortex_off/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000086/front.json", + "scene_id": "vortex_off/scene_000086", + "seed": 22120909, + "shared_state": "vortex_off/scene_000086/shared_state.npz", + "video": "vortex_off/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000086/right.json", + "scene_id": "vortex_off/scene_000086", + "seed": 22120909, + "shared_state": "vortex_off/scene_000086/shared_state.npz", + "video": "vortex_off/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000087/left.json", + "scene_id": "vortex_off/scene_000087", + "seed": 22130909, + "shared_state": "vortex_off/scene_000087/shared_state.npz", + "video": "vortex_off/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000087/front.json", + "scene_id": "vortex_off/scene_000087", + "seed": 22130909, + "shared_state": "vortex_off/scene_000087/shared_state.npz", + "video": "vortex_off/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000087/right.json", + "scene_id": "vortex_off/scene_000087", + "seed": 22130909, + "shared_state": "vortex_off/scene_000087/shared_state.npz", + "video": "vortex_off/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000088/left.json", + "scene_id": "vortex_off/scene_000088", + "seed": 22140910, + "shared_state": "vortex_off/scene_000088/shared_state.npz", + "video": "vortex_off/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000088/front.json", + "scene_id": "vortex_off/scene_000088", + "seed": 22140910, + "shared_state": "vortex_off/scene_000088/shared_state.npz", + "video": "vortex_off/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000088/right.json", + "scene_id": "vortex_off/scene_000088", + "seed": 22140910, + "shared_state": "vortex_off/scene_000088/shared_state.npz", + "video": "vortex_off/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000089/left.json", + "scene_id": "vortex_off/scene_000089", + "seed": 22150909, + "shared_state": "vortex_off/scene_000089/shared_state.npz", + "video": "vortex_off/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000089/front.json", + "scene_id": "vortex_off/scene_000089", + "seed": 22150909, + "shared_state": "vortex_off/scene_000089/shared_state.npz", + "video": "vortex_off/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000089/right.json", + "scene_id": "vortex_off/scene_000089", + "seed": 22150909, + "shared_state": "vortex_off/scene_000089/shared_state.npz", + "video": "vortex_off/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000090/left.json", + "scene_id": "vortex_off/scene_000090", + "seed": 22160909, + "shared_state": "vortex_off/scene_000090/shared_state.npz", + "video": "vortex_off/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000090/front.json", + "scene_id": "vortex_off/scene_000090", + "seed": 22160909, + "shared_state": "vortex_off/scene_000090/shared_state.npz", + "video": "vortex_off/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000090/right.json", + "scene_id": "vortex_off/scene_000090", + "seed": 22160909, + "shared_state": "vortex_off/scene_000090/shared_state.npz", + "video": "vortex_off/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000091/left.json", + "scene_id": "vortex_off/scene_000091", + "seed": 22170913, + "shared_state": "vortex_off/scene_000091/shared_state.npz", + "video": "vortex_off/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000091/front.json", + "scene_id": "vortex_off/scene_000091", + "seed": 22170913, + "shared_state": "vortex_off/scene_000091/shared_state.npz", + "video": "vortex_off/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000091/right.json", + "scene_id": "vortex_off/scene_000091", + "seed": 22170913, + "shared_state": "vortex_off/scene_000091/shared_state.npz", + "video": "vortex_off/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000092/left.json", + "scene_id": "vortex_off/scene_000092", + "seed": 22180910, + "shared_state": "vortex_off/scene_000092/shared_state.npz", + "video": "vortex_off/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000092/front.json", + "scene_id": "vortex_off/scene_000092", + "seed": 22180910, + "shared_state": "vortex_off/scene_000092/shared_state.npz", + "video": "vortex_off/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000092/right.json", + "scene_id": "vortex_off/scene_000092", + "seed": 22180910, + "shared_state": "vortex_off/scene_000092/shared_state.npz", + "video": "vortex_off/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000093/left.json", + "scene_id": "vortex_off/scene_000093", + "seed": 22190910, + "shared_state": "vortex_off/scene_000093/shared_state.npz", + "video": "vortex_off/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000093/front.json", + "scene_id": "vortex_off/scene_000093", + "seed": 22190910, + "shared_state": "vortex_off/scene_000093/shared_state.npz", + "video": "vortex_off/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000093/right.json", + "scene_id": "vortex_off/scene_000093", + "seed": 22190910, + "shared_state": "vortex_off/scene_000093/shared_state.npz", + "video": "vortex_off/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000094/left.json", + "scene_id": "vortex_off/scene_000094", + "seed": 22200913, + "shared_state": "vortex_off/scene_000094/shared_state.npz", + "video": "vortex_off/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000094/front.json", + "scene_id": "vortex_off/scene_000094", + "seed": 22200913, + "shared_state": "vortex_off/scene_000094/shared_state.npz", + "video": "vortex_off/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000094/right.json", + "scene_id": "vortex_off/scene_000094", + "seed": 22200913, + "shared_state": "vortex_off/scene_000094/shared_state.npz", + "video": "vortex_off/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000095/left.json", + "scene_id": "vortex_off/scene_000095", + "seed": 22210909, + "shared_state": "vortex_off/scene_000095/shared_state.npz", + "video": "vortex_off/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000095/front.json", + "scene_id": "vortex_off/scene_000095", + "seed": 22210909, + "shared_state": "vortex_off/scene_000095/shared_state.npz", + "video": "vortex_off/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000095/right.json", + "scene_id": "vortex_off/scene_000095", + "seed": 22210909, + "shared_state": "vortex_off/scene_000095/shared_state.npz", + "video": "vortex_off/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000096/left.json", + "scene_id": "vortex_off/scene_000096", + "seed": 22220910, + "shared_state": "vortex_off/scene_000096/shared_state.npz", + "video": "vortex_off/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000096/front.json", + "scene_id": "vortex_off/scene_000096", + "seed": 22220910, + "shared_state": "vortex_off/scene_000096/shared_state.npz", + "video": "vortex_off/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000096/right.json", + "scene_id": "vortex_off/scene_000096", + "seed": 22220910, + "shared_state": "vortex_off/scene_000096/shared_state.npz", + "video": "vortex_off/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000097/left.json", + "scene_id": "vortex_off/scene_000097", + "seed": 22230909, + "shared_state": "vortex_off/scene_000097/shared_state.npz", + "video": "vortex_off/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000097/front.json", + "scene_id": "vortex_off/scene_000097", + "seed": 22230909, + "shared_state": "vortex_off/scene_000097/shared_state.npz", + "video": "vortex_off/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000097/right.json", + "scene_id": "vortex_off/scene_000097", + "seed": 22230909, + "shared_state": "vortex_off/scene_000097/shared_state.npz", + "video": "vortex_off/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000098/left.json", + "scene_id": "vortex_off/scene_000098", + "seed": 22240909, + "shared_state": "vortex_off/scene_000098/shared_state.npz", + "video": "vortex_off/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000098/front.json", + "scene_id": "vortex_off/scene_000098", + "seed": 22240909, + "shared_state": "vortex_off/scene_000098/shared_state.npz", + "video": "vortex_off/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000098/right.json", + "scene_id": "vortex_off/scene_000098", + "seed": 22240909, + "shared_state": "vortex_off/scene_000098/shared_state.npz", + "video": "vortex_off/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000099/left.json", + "scene_id": "vortex_off/scene_000099", + "seed": 22250909, + "shared_state": "vortex_off/scene_000099/shared_state.npz", + "video": "vortex_off/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000099/front.json", + "scene_id": "vortex_off/scene_000099", + "seed": 22250909, + "shared_state": "vortex_off/scene_000099/shared_state.npz", + "video": "vortex_off/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": true, + "metadata": "vortex_off/scene_000099/right.json", + "scene_id": "vortex_off/scene_000099", + "seed": 22250909, + "shared_state": "vortex_off/scene_000099/shared_state.npz", + "video": "vortex_off/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000100/left.json", + "scene_id": "vortex_off/scene_000100", + "seed": 111000000, + "shared_state": "vortex_off/scene_000100/shared_state.npz", + "video": "vortex_off/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000100/front.json", + "scene_id": "vortex_off/scene_000100", + "seed": 111000000, + "shared_state": "vortex_off/scene_000100/shared_state.npz", + "video": "vortex_off/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000100/right.json", + "scene_id": "vortex_off/scene_000100", + "seed": 111000000, + "shared_state": "vortex_off/scene_000100/shared_state.npz", + "video": "vortex_off/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000101/left.json", + "scene_id": "vortex_off/scene_000101", + "seed": 111010000, + "shared_state": "vortex_off/scene_000101/shared_state.npz", + "video": "vortex_off/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000101/front.json", + "scene_id": "vortex_off/scene_000101", + "seed": 111010000, + "shared_state": "vortex_off/scene_000101/shared_state.npz", + "video": "vortex_off/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000101/right.json", + "scene_id": "vortex_off/scene_000101", + "seed": 111010000, + "shared_state": "vortex_off/scene_000101/shared_state.npz", + "video": "vortex_off/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000102/left.json", + "scene_id": "vortex_off/scene_000102", + "seed": 111020000, + "shared_state": "vortex_off/scene_000102/shared_state.npz", + "video": "vortex_off/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000102/front.json", + "scene_id": "vortex_off/scene_000102", + "seed": 111020000, + "shared_state": "vortex_off/scene_000102/shared_state.npz", + "video": "vortex_off/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000102/right.json", + "scene_id": "vortex_off/scene_000102", + "seed": 111020000, + "shared_state": "vortex_off/scene_000102/shared_state.npz", + "video": "vortex_off/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000103/left.json", + "scene_id": "vortex_off/scene_000103", + "seed": 111030000, + "shared_state": "vortex_off/scene_000103/shared_state.npz", + "video": "vortex_off/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000103/front.json", + "scene_id": "vortex_off/scene_000103", + "seed": 111030000, + "shared_state": "vortex_off/scene_000103/shared_state.npz", + "video": "vortex_off/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000103/right.json", + "scene_id": "vortex_off/scene_000103", + "seed": 111030000, + "shared_state": "vortex_off/scene_000103/shared_state.npz", + "video": "vortex_off/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000104/left.json", + "scene_id": "vortex_off/scene_000104", + "seed": 111040000, + "shared_state": "vortex_off/scene_000104/shared_state.npz", + "video": "vortex_off/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000104/front.json", + "scene_id": "vortex_off/scene_000104", + "seed": 111040000, + "shared_state": "vortex_off/scene_000104/shared_state.npz", + "video": "vortex_off/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000104/right.json", + "scene_id": "vortex_off/scene_000104", + "seed": 111040000, + "shared_state": "vortex_off/scene_000104/shared_state.npz", + "video": "vortex_off/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000105/left.json", + "scene_id": "vortex_off/scene_000105", + "seed": 111050000, + "shared_state": "vortex_off/scene_000105/shared_state.npz", + "video": "vortex_off/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000105/front.json", + "scene_id": "vortex_off/scene_000105", + "seed": 111050000, + "shared_state": "vortex_off/scene_000105/shared_state.npz", + "video": "vortex_off/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000105/right.json", + "scene_id": "vortex_off/scene_000105", + "seed": 111050000, + "shared_state": "vortex_off/scene_000105/shared_state.npz", + "video": "vortex_off/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000106/left.json", + "scene_id": "vortex_off/scene_000106", + "seed": 111060000, + "shared_state": "vortex_off/scene_000106/shared_state.npz", + "video": "vortex_off/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000106/front.json", + "scene_id": "vortex_off/scene_000106", + "seed": 111060000, + "shared_state": "vortex_off/scene_000106/shared_state.npz", + "video": "vortex_off/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000106/right.json", + "scene_id": "vortex_off/scene_000106", + "seed": 111060000, + "shared_state": "vortex_off/scene_000106/shared_state.npz", + "video": "vortex_off/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000107/left.json", + "scene_id": "vortex_off/scene_000107", + "seed": 111070000, + "shared_state": "vortex_off/scene_000107/shared_state.npz", + "video": "vortex_off/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000107/front.json", + "scene_id": "vortex_off/scene_000107", + "seed": 111070000, + "shared_state": "vortex_off/scene_000107/shared_state.npz", + "video": "vortex_off/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000107/right.json", + "scene_id": "vortex_off/scene_000107", + "seed": 111070000, + "shared_state": "vortex_off/scene_000107/shared_state.npz", + "video": "vortex_off/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000108/left.json", + "scene_id": "vortex_off/scene_000108", + "seed": 111080000, + "shared_state": "vortex_off/scene_000108/shared_state.npz", + "video": "vortex_off/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000108/front.json", + "scene_id": "vortex_off/scene_000108", + "seed": 111080000, + "shared_state": "vortex_off/scene_000108/shared_state.npz", + "video": "vortex_off/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000108/right.json", + "scene_id": "vortex_off/scene_000108", + "seed": 111080000, + "shared_state": "vortex_off/scene_000108/shared_state.npz", + "video": "vortex_off/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000109/left.json", + "scene_id": "vortex_off/scene_000109", + "seed": 111090000, + "shared_state": "vortex_off/scene_000109/shared_state.npz", + "video": "vortex_off/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000109/front.json", + "scene_id": "vortex_off/scene_000109", + "seed": 111090000, + "shared_state": "vortex_off/scene_000109/shared_state.npz", + "video": "vortex_off/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000109/right.json", + "scene_id": "vortex_off/scene_000109", + "seed": 111090000, + "shared_state": "vortex_off/scene_000109/shared_state.npz", + "video": "vortex_off/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000110/left.json", + "scene_id": "vortex_off/scene_000110", + "seed": 111100000, + "shared_state": "vortex_off/scene_000110/shared_state.npz", + "video": "vortex_off/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000110/front.json", + "scene_id": "vortex_off/scene_000110", + "seed": 111100000, + "shared_state": "vortex_off/scene_000110/shared_state.npz", + "video": "vortex_off/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000110/right.json", + "scene_id": "vortex_off/scene_000110", + "seed": 111100000, + "shared_state": "vortex_off/scene_000110/shared_state.npz", + "video": "vortex_off/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000111/left.json", + "scene_id": "vortex_off/scene_000111", + "seed": 111110000, + "shared_state": "vortex_off/scene_000111/shared_state.npz", + "video": "vortex_off/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000111/front.json", + "scene_id": "vortex_off/scene_000111", + "seed": 111110000, + "shared_state": "vortex_off/scene_000111/shared_state.npz", + "video": "vortex_off/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000111/right.json", + "scene_id": "vortex_off/scene_000111", + "seed": 111110000, + "shared_state": "vortex_off/scene_000111/shared_state.npz", + "video": "vortex_off/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000112/left.json", + "scene_id": "vortex_off/scene_000112", + "seed": 111120000, + "shared_state": "vortex_off/scene_000112/shared_state.npz", + "video": "vortex_off/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000112/front.json", + "scene_id": "vortex_off/scene_000112", + "seed": 111120000, + "shared_state": "vortex_off/scene_000112/shared_state.npz", + "video": "vortex_off/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000112/right.json", + "scene_id": "vortex_off/scene_000112", + "seed": 111120000, + "shared_state": "vortex_off/scene_000112/shared_state.npz", + "video": "vortex_off/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000113/left.json", + "scene_id": "vortex_off/scene_000113", + "seed": 111130000, + "shared_state": "vortex_off/scene_000113/shared_state.npz", + "video": "vortex_off/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000113/front.json", + "scene_id": "vortex_off/scene_000113", + "seed": 111130000, + "shared_state": "vortex_off/scene_000113/shared_state.npz", + "video": "vortex_off/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000113/right.json", + "scene_id": "vortex_off/scene_000113", + "seed": 111130000, + "shared_state": "vortex_off/scene_000113/shared_state.npz", + "video": "vortex_off/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000114/left.json", + "scene_id": "vortex_off/scene_000114", + "seed": 111140000, + "shared_state": "vortex_off/scene_000114/shared_state.npz", + "video": "vortex_off/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000114/front.json", + "scene_id": "vortex_off/scene_000114", + "seed": 111140000, + "shared_state": "vortex_off/scene_000114/shared_state.npz", + "video": "vortex_off/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000114/right.json", + "scene_id": "vortex_off/scene_000114", + "seed": 111140000, + "shared_state": "vortex_off/scene_000114/shared_state.npz", + "video": "vortex_off/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000115/left.json", + "scene_id": "vortex_off/scene_000115", + "seed": 111150000, + "shared_state": "vortex_off/scene_000115/shared_state.npz", + "video": "vortex_off/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000115/front.json", + "scene_id": "vortex_off/scene_000115", + "seed": 111150000, + "shared_state": "vortex_off/scene_000115/shared_state.npz", + "video": "vortex_off/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000115/right.json", + "scene_id": "vortex_off/scene_000115", + "seed": 111150000, + "shared_state": "vortex_off/scene_000115/shared_state.npz", + "video": "vortex_off/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000116/left.json", + "scene_id": "vortex_off/scene_000116", + "seed": 111160000, + "shared_state": "vortex_off/scene_000116/shared_state.npz", + "video": "vortex_off/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000116/front.json", + "scene_id": "vortex_off/scene_000116", + "seed": 111160000, + "shared_state": "vortex_off/scene_000116/shared_state.npz", + "video": "vortex_off/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000116/right.json", + "scene_id": "vortex_off/scene_000116", + "seed": 111160000, + "shared_state": "vortex_off/scene_000116/shared_state.npz", + "video": "vortex_off/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000117/left.json", + "scene_id": "vortex_off/scene_000117", + "seed": 111170000, + "shared_state": "vortex_off/scene_000117/shared_state.npz", + "video": "vortex_off/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000117/front.json", + "scene_id": "vortex_off/scene_000117", + "seed": 111170000, + "shared_state": "vortex_off/scene_000117/shared_state.npz", + "video": "vortex_off/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000117/right.json", + "scene_id": "vortex_off/scene_000117", + "seed": 111170000, + "shared_state": "vortex_off/scene_000117/shared_state.npz", + "video": "vortex_off/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000118/left.json", + "scene_id": "vortex_off/scene_000118", + "seed": 111180000, + "shared_state": "vortex_off/scene_000118/shared_state.npz", + "video": "vortex_off/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000118/front.json", + "scene_id": "vortex_off/scene_000118", + "seed": 111180000, + "shared_state": "vortex_off/scene_000118/shared_state.npz", + "video": "vortex_off/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000118/right.json", + "scene_id": "vortex_off/scene_000118", + "seed": 111180000, + "shared_state": "vortex_off/scene_000118/shared_state.npz", + "video": "vortex_off/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000119/left.json", + "scene_id": "vortex_off/scene_000119", + "seed": 111190000, + "shared_state": "vortex_off/scene_000119/shared_state.npz", + "video": "vortex_off/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000119/front.json", + "scene_id": "vortex_off/scene_000119", + "seed": 111190000, + "shared_state": "vortex_off/scene_000119/shared_state.npz", + "video": "vortex_off/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000119/right.json", + "scene_id": "vortex_off/scene_000119", + "seed": 111190000, + "shared_state": "vortex_off/scene_000119/shared_state.npz", + "video": "vortex_off/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000120/left.json", + "scene_id": "vortex_off/scene_000120", + "seed": 111200000, + "shared_state": "vortex_off/scene_000120/shared_state.npz", + "video": "vortex_off/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000120/front.json", + "scene_id": "vortex_off/scene_000120", + "seed": 111200000, + "shared_state": "vortex_off/scene_000120/shared_state.npz", + "video": "vortex_off/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000120/right.json", + "scene_id": "vortex_off/scene_000120", + "seed": 111200000, + "shared_state": "vortex_off/scene_000120/shared_state.npz", + "video": "vortex_off/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000121/left.json", + "scene_id": "vortex_off/scene_000121", + "seed": 111210000, + "shared_state": "vortex_off/scene_000121/shared_state.npz", + "video": "vortex_off/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000121/front.json", + "scene_id": "vortex_off/scene_000121", + "seed": 111210000, + "shared_state": "vortex_off/scene_000121/shared_state.npz", + "video": "vortex_off/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000121/right.json", + "scene_id": "vortex_off/scene_000121", + "seed": 111210000, + "shared_state": "vortex_off/scene_000121/shared_state.npz", + "video": "vortex_off/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000122/left.json", + "scene_id": "vortex_off/scene_000122", + "seed": 111220000, + "shared_state": "vortex_off/scene_000122/shared_state.npz", + "video": "vortex_off/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000122/front.json", + "scene_id": "vortex_off/scene_000122", + "seed": 111220000, + "shared_state": "vortex_off/scene_000122/shared_state.npz", + "video": "vortex_off/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000122/right.json", + "scene_id": "vortex_off/scene_000122", + "seed": 111220000, + "shared_state": "vortex_off/scene_000122/shared_state.npz", + "video": "vortex_off/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000123/left.json", + "scene_id": "vortex_off/scene_000123", + "seed": 111230000, + "shared_state": "vortex_off/scene_000123/shared_state.npz", + "video": "vortex_off/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000123/front.json", + "scene_id": "vortex_off/scene_000123", + "seed": 111230000, + "shared_state": "vortex_off/scene_000123/shared_state.npz", + "video": "vortex_off/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000123/right.json", + "scene_id": "vortex_off/scene_000123", + "seed": 111230000, + "shared_state": "vortex_off/scene_000123/shared_state.npz", + "video": "vortex_off/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000124/left.json", + "scene_id": "vortex_off/scene_000124", + "seed": 111240000, + "shared_state": "vortex_off/scene_000124/shared_state.npz", + "video": "vortex_off/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000124/front.json", + "scene_id": "vortex_off/scene_000124", + "seed": 111240000, + "shared_state": "vortex_off/scene_000124/shared_state.npz", + "video": "vortex_off/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000124/right.json", + "scene_id": "vortex_off/scene_000124", + "seed": 111240000, + "shared_state": "vortex_off/scene_000124/shared_state.npz", + "video": "vortex_off/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000125/left.json", + "scene_id": "vortex_off/scene_000125", + "seed": 111250000, + "shared_state": "vortex_off/scene_000125/shared_state.npz", + "video": "vortex_off/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000125/front.json", + "scene_id": "vortex_off/scene_000125", + "seed": 111250000, + "shared_state": "vortex_off/scene_000125/shared_state.npz", + "video": "vortex_off/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000125/right.json", + "scene_id": "vortex_off/scene_000125", + "seed": 111250000, + "shared_state": "vortex_off/scene_000125/shared_state.npz", + "video": "vortex_off/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000126/left.json", + "scene_id": "vortex_off/scene_000126", + "seed": 111260000, + "shared_state": "vortex_off/scene_000126/shared_state.npz", + "video": "vortex_off/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000126/front.json", + "scene_id": "vortex_off/scene_000126", + "seed": 111260000, + "shared_state": "vortex_off/scene_000126/shared_state.npz", + "video": "vortex_off/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000126/right.json", + "scene_id": "vortex_off/scene_000126", + "seed": 111260000, + "shared_state": "vortex_off/scene_000126/shared_state.npz", + "video": "vortex_off/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000127/left.json", + "scene_id": "vortex_off/scene_000127", + "seed": 111270000, + "shared_state": "vortex_off/scene_000127/shared_state.npz", + "video": "vortex_off/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000127/front.json", + "scene_id": "vortex_off/scene_000127", + "seed": 111270000, + "shared_state": "vortex_off/scene_000127/shared_state.npz", + "video": "vortex_off/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000127/right.json", + "scene_id": "vortex_off/scene_000127", + "seed": 111270000, + "shared_state": "vortex_off/scene_000127/shared_state.npz", + "video": "vortex_off/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000128/left.json", + "scene_id": "vortex_off/scene_000128", + "seed": 111280000, + "shared_state": "vortex_off/scene_000128/shared_state.npz", + "video": "vortex_off/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000128/front.json", + "scene_id": "vortex_off/scene_000128", + "seed": 111280000, + "shared_state": "vortex_off/scene_000128/shared_state.npz", + "video": "vortex_off/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000128/right.json", + "scene_id": "vortex_off/scene_000128", + "seed": 111280000, + "shared_state": "vortex_off/scene_000128/shared_state.npz", + "video": "vortex_off/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000129/left.json", + "scene_id": "vortex_off/scene_000129", + "seed": 111290000, + "shared_state": "vortex_off/scene_000129/shared_state.npz", + "video": "vortex_off/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000129/front.json", + "scene_id": "vortex_off/scene_000129", + "seed": 111290000, + "shared_state": "vortex_off/scene_000129/shared_state.npz", + "video": "vortex_off/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000129/right.json", + "scene_id": "vortex_off/scene_000129", + "seed": 111290000, + "shared_state": "vortex_off/scene_000129/shared_state.npz", + "video": "vortex_off/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000130/left.json", + "scene_id": "vortex_off/scene_000130", + "seed": 111300000, + "shared_state": "vortex_off/scene_000130/shared_state.npz", + "video": "vortex_off/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000130/front.json", + "scene_id": "vortex_off/scene_000130", + "seed": 111300000, + "shared_state": "vortex_off/scene_000130/shared_state.npz", + "video": "vortex_off/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000130/right.json", + "scene_id": "vortex_off/scene_000130", + "seed": 111300000, + "shared_state": "vortex_off/scene_000130/shared_state.npz", + "video": "vortex_off/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000131/left.json", + "scene_id": "vortex_off/scene_000131", + "seed": 111310000, + "shared_state": "vortex_off/scene_000131/shared_state.npz", + "video": "vortex_off/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000131/front.json", + "scene_id": "vortex_off/scene_000131", + "seed": 111310000, + "shared_state": "vortex_off/scene_000131/shared_state.npz", + "video": "vortex_off/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000131/right.json", + "scene_id": "vortex_off/scene_000131", + "seed": 111310000, + "shared_state": "vortex_off/scene_000131/shared_state.npz", + "video": "vortex_off/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000132/left.json", + "scene_id": "vortex_off/scene_000132", + "seed": 111320000, + "shared_state": "vortex_off/scene_000132/shared_state.npz", + "video": "vortex_off/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000132/front.json", + "scene_id": "vortex_off/scene_000132", + "seed": 111320000, + "shared_state": "vortex_off/scene_000132/shared_state.npz", + "video": "vortex_off/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000132/right.json", + "scene_id": "vortex_off/scene_000132", + "seed": 111320000, + "shared_state": "vortex_off/scene_000132/shared_state.npz", + "video": "vortex_off/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000133/left.json", + "scene_id": "vortex_off/scene_000133", + "seed": 111330000, + "shared_state": "vortex_off/scene_000133/shared_state.npz", + "video": "vortex_off/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000133/front.json", + "scene_id": "vortex_off/scene_000133", + "seed": 111330000, + "shared_state": "vortex_off/scene_000133/shared_state.npz", + "video": "vortex_off/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000133/right.json", + "scene_id": "vortex_off/scene_000133", + "seed": 111330000, + "shared_state": "vortex_off/scene_000133/shared_state.npz", + "video": "vortex_off/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000134/left.json", + "scene_id": "vortex_off/scene_000134", + "seed": 111340000, + "shared_state": "vortex_off/scene_000134/shared_state.npz", + "video": "vortex_off/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000134/front.json", + "scene_id": "vortex_off/scene_000134", + "seed": 111340000, + "shared_state": "vortex_off/scene_000134/shared_state.npz", + "video": "vortex_off/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000134/right.json", + "scene_id": "vortex_off/scene_000134", + "seed": 111340000, + "shared_state": "vortex_off/scene_000134/shared_state.npz", + "video": "vortex_off/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000135/left.json", + "scene_id": "vortex_off/scene_000135", + "seed": 111350000, + "shared_state": "vortex_off/scene_000135/shared_state.npz", + "video": "vortex_off/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000135/front.json", + "scene_id": "vortex_off/scene_000135", + "seed": 111350000, + "shared_state": "vortex_off/scene_000135/shared_state.npz", + "video": "vortex_off/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000135/right.json", + "scene_id": "vortex_off/scene_000135", + "seed": 111350000, + "shared_state": "vortex_off/scene_000135/shared_state.npz", + "video": "vortex_off/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000136/left.json", + "scene_id": "vortex_off/scene_000136", + "seed": 111360000, + "shared_state": "vortex_off/scene_000136/shared_state.npz", + "video": "vortex_off/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000136/front.json", + "scene_id": "vortex_off/scene_000136", + "seed": 111360000, + "shared_state": "vortex_off/scene_000136/shared_state.npz", + "video": "vortex_off/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000136/right.json", + "scene_id": "vortex_off/scene_000136", + "seed": 111360000, + "shared_state": "vortex_off/scene_000136/shared_state.npz", + "video": "vortex_off/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000137/left.json", + "scene_id": "vortex_off/scene_000137", + "seed": 111370000, + "shared_state": "vortex_off/scene_000137/shared_state.npz", + "video": "vortex_off/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000137/front.json", + "scene_id": "vortex_off/scene_000137", + "seed": 111370000, + "shared_state": "vortex_off/scene_000137/shared_state.npz", + "video": "vortex_off/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000137/right.json", + "scene_id": "vortex_off/scene_000137", + "seed": 111370000, + "shared_state": "vortex_off/scene_000137/shared_state.npz", + "video": "vortex_off/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000138/left.json", + "scene_id": "vortex_off/scene_000138", + "seed": 111380000, + "shared_state": "vortex_off/scene_000138/shared_state.npz", + "video": "vortex_off/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000138/front.json", + "scene_id": "vortex_off/scene_000138", + "seed": 111380000, + "shared_state": "vortex_off/scene_000138/shared_state.npz", + "video": "vortex_off/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000138/right.json", + "scene_id": "vortex_off/scene_000138", + "seed": 111380000, + "shared_state": "vortex_off/scene_000138/shared_state.npz", + "video": "vortex_off/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000139/left.json", + "scene_id": "vortex_off/scene_000139", + "seed": 111390000, + "shared_state": "vortex_off/scene_000139/shared_state.npz", + "video": "vortex_off/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000139/front.json", + "scene_id": "vortex_off/scene_000139", + "seed": 111390000, + "shared_state": "vortex_off/scene_000139/shared_state.npz", + "video": "vortex_off/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000139/right.json", + "scene_id": "vortex_off/scene_000139", + "seed": 111390000, + "shared_state": "vortex_off/scene_000139/shared_state.npz", + "video": "vortex_off/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000140/left.json", + "scene_id": "vortex_off/scene_000140", + "seed": 111400000, + "shared_state": "vortex_off/scene_000140/shared_state.npz", + "video": "vortex_off/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000140/front.json", + "scene_id": "vortex_off/scene_000140", + "seed": 111400000, + "shared_state": "vortex_off/scene_000140/shared_state.npz", + "video": "vortex_off/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000140/right.json", + "scene_id": "vortex_off/scene_000140", + "seed": 111400000, + "shared_state": "vortex_off/scene_000140/shared_state.npz", + "video": "vortex_off/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000141/left.json", + "scene_id": "vortex_off/scene_000141", + "seed": 111410000, + "shared_state": "vortex_off/scene_000141/shared_state.npz", + "video": "vortex_off/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000141/front.json", + "scene_id": "vortex_off/scene_000141", + "seed": 111410000, + "shared_state": "vortex_off/scene_000141/shared_state.npz", + "video": "vortex_off/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000141/right.json", + "scene_id": "vortex_off/scene_000141", + "seed": 111410000, + "shared_state": "vortex_off/scene_000141/shared_state.npz", + "video": "vortex_off/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000142/left.json", + "scene_id": "vortex_off/scene_000142", + "seed": 111420000, + "shared_state": "vortex_off/scene_000142/shared_state.npz", + "video": "vortex_off/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000142/front.json", + "scene_id": "vortex_off/scene_000142", + "seed": 111420000, + "shared_state": "vortex_off/scene_000142/shared_state.npz", + "video": "vortex_off/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000142/right.json", + "scene_id": "vortex_off/scene_000142", + "seed": 111420000, + "shared_state": "vortex_off/scene_000142/shared_state.npz", + "video": "vortex_off/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000143/left.json", + "scene_id": "vortex_off/scene_000143", + "seed": 111430000, + "shared_state": "vortex_off/scene_000143/shared_state.npz", + "video": "vortex_off/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000143/front.json", + "scene_id": "vortex_off/scene_000143", + "seed": 111430000, + "shared_state": "vortex_off/scene_000143/shared_state.npz", + "video": "vortex_off/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000143/right.json", + "scene_id": "vortex_off/scene_000143", + "seed": 111430000, + "shared_state": "vortex_off/scene_000143/shared_state.npz", + "video": "vortex_off/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000144/left.json", + "scene_id": "vortex_off/scene_000144", + "seed": 111440000, + "shared_state": "vortex_off/scene_000144/shared_state.npz", + "video": "vortex_off/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000144/front.json", + "scene_id": "vortex_off/scene_000144", + "seed": 111440000, + "shared_state": "vortex_off/scene_000144/shared_state.npz", + "video": "vortex_off/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000144/right.json", + "scene_id": "vortex_off/scene_000144", + "seed": 111440000, + "shared_state": "vortex_off/scene_000144/shared_state.npz", + "video": "vortex_off/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000145/left.json", + "scene_id": "vortex_off/scene_000145", + "seed": 111450000, + "shared_state": "vortex_off/scene_000145/shared_state.npz", + "video": "vortex_off/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000145/front.json", + "scene_id": "vortex_off/scene_000145", + "seed": 111450000, + "shared_state": "vortex_off/scene_000145/shared_state.npz", + "video": "vortex_off/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000145/right.json", + "scene_id": "vortex_off/scene_000145", + "seed": 111450000, + "shared_state": "vortex_off/scene_000145/shared_state.npz", + "video": "vortex_off/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000146/left.json", + "scene_id": "vortex_off/scene_000146", + "seed": 111460000, + "shared_state": "vortex_off/scene_000146/shared_state.npz", + "video": "vortex_off/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000146/front.json", + "scene_id": "vortex_off/scene_000146", + "seed": 111460000, + "shared_state": "vortex_off/scene_000146/shared_state.npz", + "video": "vortex_off/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000146/right.json", + "scene_id": "vortex_off/scene_000146", + "seed": 111460000, + "shared_state": "vortex_off/scene_000146/shared_state.npz", + "video": "vortex_off/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000147/left.json", + "scene_id": "vortex_off/scene_000147", + "seed": 111470000, + "shared_state": "vortex_off/scene_000147/shared_state.npz", + "video": "vortex_off/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000147/front.json", + "scene_id": "vortex_off/scene_000147", + "seed": 111470000, + "shared_state": "vortex_off/scene_000147/shared_state.npz", + "video": "vortex_off/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000147/right.json", + "scene_id": "vortex_off/scene_000147", + "seed": 111470000, + "shared_state": "vortex_off/scene_000147/shared_state.npz", + "video": "vortex_off/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000148/left.json", + "scene_id": "vortex_off/scene_000148", + "seed": 111480000, + "shared_state": "vortex_off/scene_000148/shared_state.npz", + "video": "vortex_off/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000148/front.json", + "scene_id": "vortex_off/scene_000148", + "seed": 111480000, + "shared_state": "vortex_off/scene_000148/shared_state.npz", + "video": "vortex_off/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000148/right.json", + "scene_id": "vortex_off/scene_000148", + "seed": 111480000, + "shared_state": "vortex_off/scene_000148/shared_state.npz", + "video": "vortex_off/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000149/left.json", + "scene_id": "vortex_off/scene_000149", + "seed": 111490001, + "shared_state": "vortex_off/scene_000149/shared_state.npz", + "video": "vortex_off/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000149/front.json", + "scene_id": "vortex_off/scene_000149", + "seed": 111490001, + "shared_state": "vortex_off/scene_000149/shared_state.npz", + "video": "vortex_off/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000149/right.json", + "scene_id": "vortex_off/scene_000149", + "seed": 111490001, + "shared_state": "vortex_off/scene_000149/shared_state.npz", + "video": "vortex_off/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000150/left.json", + "scene_id": "vortex_off/scene_000150", + "seed": 111500000, + "shared_state": "vortex_off/scene_000150/shared_state.npz", + "video": "vortex_off/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000150/front.json", + "scene_id": "vortex_off/scene_000150", + "seed": 111500000, + "shared_state": "vortex_off/scene_000150/shared_state.npz", + "video": "vortex_off/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000150/right.json", + "scene_id": "vortex_off/scene_000150", + "seed": 111500000, + "shared_state": "vortex_off/scene_000150/shared_state.npz", + "video": "vortex_off/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000151/left.json", + "scene_id": "vortex_off/scene_000151", + "seed": 111510000, + "shared_state": "vortex_off/scene_000151/shared_state.npz", + "video": "vortex_off/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000151/front.json", + "scene_id": "vortex_off/scene_000151", + "seed": 111510000, + "shared_state": "vortex_off/scene_000151/shared_state.npz", + "video": "vortex_off/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000151/right.json", + "scene_id": "vortex_off/scene_000151", + "seed": 111510000, + "shared_state": "vortex_off/scene_000151/shared_state.npz", + "video": "vortex_off/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000152/left.json", + "scene_id": "vortex_off/scene_000152", + "seed": 111520000, + "shared_state": "vortex_off/scene_000152/shared_state.npz", + "video": "vortex_off/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000152/front.json", + "scene_id": "vortex_off/scene_000152", + "seed": 111520000, + "shared_state": "vortex_off/scene_000152/shared_state.npz", + "video": "vortex_off/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000152/right.json", + "scene_id": "vortex_off/scene_000152", + "seed": 111520000, + "shared_state": "vortex_off/scene_000152/shared_state.npz", + "video": "vortex_off/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000153/left.json", + "scene_id": "vortex_off/scene_000153", + "seed": 111530000, + "shared_state": "vortex_off/scene_000153/shared_state.npz", + "video": "vortex_off/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000153/front.json", + "scene_id": "vortex_off/scene_000153", + "seed": 111530000, + "shared_state": "vortex_off/scene_000153/shared_state.npz", + "video": "vortex_off/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000153/right.json", + "scene_id": "vortex_off/scene_000153", + "seed": 111530000, + "shared_state": "vortex_off/scene_000153/shared_state.npz", + "video": "vortex_off/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000154/left.json", + "scene_id": "vortex_off/scene_000154", + "seed": 111540000, + "shared_state": "vortex_off/scene_000154/shared_state.npz", + "video": "vortex_off/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000154/front.json", + "scene_id": "vortex_off/scene_000154", + "seed": 111540000, + "shared_state": "vortex_off/scene_000154/shared_state.npz", + "video": "vortex_off/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000154/right.json", + "scene_id": "vortex_off/scene_000154", + "seed": 111540000, + "shared_state": "vortex_off/scene_000154/shared_state.npz", + "video": "vortex_off/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000155/left.json", + "scene_id": "vortex_off/scene_000155", + "seed": 111550000, + "shared_state": "vortex_off/scene_000155/shared_state.npz", + "video": "vortex_off/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000155/front.json", + "scene_id": "vortex_off/scene_000155", + "seed": 111550000, + "shared_state": "vortex_off/scene_000155/shared_state.npz", + "video": "vortex_off/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000155/right.json", + "scene_id": "vortex_off/scene_000155", + "seed": 111550000, + "shared_state": "vortex_off/scene_000155/shared_state.npz", + "video": "vortex_off/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000156/left.json", + "scene_id": "vortex_off/scene_000156", + "seed": 111560000, + "shared_state": "vortex_off/scene_000156/shared_state.npz", + "video": "vortex_off/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000156/front.json", + "scene_id": "vortex_off/scene_000156", + "seed": 111560000, + "shared_state": "vortex_off/scene_000156/shared_state.npz", + "video": "vortex_off/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000156/right.json", + "scene_id": "vortex_off/scene_000156", + "seed": 111560000, + "shared_state": "vortex_off/scene_000156/shared_state.npz", + "video": "vortex_off/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000157/left.json", + "scene_id": "vortex_off/scene_000157", + "seed": 111570000, + "shared_state": "vortex_off/scene_000157/shared_state.npz", + "video": "vortex_off/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000157/front.json", + "scene_id": "vortex_off/scene_000157", + "seed": 111570000, + "shared_state": "vortex_off/scene_000157/shared_state.npz", + "video": "vortex_off/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000157/right.json", + "scene_id": "vortex_off/scene_000157", + "seed": 111570000, + "shared_state": "vortex_off/scene_000157/shared_state.npz", + "video": "vortex_off/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000158/left.json", + "scene_id": "vortex_off/scene_000158", + "seed": 111580000, + "shared_state": "vortex_off/scene_000158/shared_state.npz", + "video": "vortex_off/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000158/front.json", + "scene_id": "vortex_off/scene_000158", + "seed": 111580000, + "shared_state": "vortex_off/scene_000158/shared_state.npz", + "video": "vortex_off/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000158/right.json", + "scene_id": "vortex_off/scene_000158", + "seed": 111580000, + "shared_state": "vortex_off/scene_000158/shared_state.npz", + "video": "vortex_off/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000159/left.json", + "scene_id": "vortex_off/scene_000159", + "seed": 111590000, + "shared_state": "vortex_off/scene_000159/shared_state.npz", + "video": "vortex_off/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000159/front.json", + "scene_id": "vortex_off/scene_000159", + "seed": 111590000, + "shared_state": "vortex_off/scene_000159/shared_state.npz", + "video": "vortex_off/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000159/right.json", + "scene_id": "vortex_off/scene_000159", + "seed": 111590000, + "shared_state": "vortex_off/scene_000159/shared_state.npz", + "video": "vortex_off/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000160/left.json", + "scene_id": "vortex_off/scene_000160", + "seed": 111600000, + "shared_state": "vortex_off/scene_000160/shared_state.npz", + "video": "vortex_off/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000160/front.json", + "scene_id": "vortex_off/scene_000160", + "seed": 111600000, + "shared_state": "vortex_off/scene_000160/shared_state.npz", + "video": "vortex_off/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000160/right.json", + "scene_id": "vortex_off/scene_000160", + "seed": 111600000, + "shared_state": "vortex_off/scene_000160/shared_state.npz", + "video": "vortex_off/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000161/left.json", + "scene_id": "vortex_off/scene_000161", + "seed": 111610000, + "shared_state": "vortex_off/scene_000161/shared_state.npz", + "video": "vortex_off/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000161/front.json", + "scene_id": "vortex_off/scene_000161", + "seed": 111610000, + "shared_state": "vortex_off/scene_000161/shared_state.npz", + "video": "vortex_off/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000161/right.json", + "scene_id": "vortex_off/scene_000161", + "seed": 111610000, + "shared_state": "vortex_off/scene_000161/shared_state.npz", + "video": "vortex_off/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000162/left.json", + "scene_id": "vortex_off/scene_000162", + "seed": 111620000, + "shared_state": "vortex_off/scene_000162/shared_state.npz", + "video": "vortex_off/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000162/front.json", + "scene_id": "vortex_off/scene_000162", + "seed": 111620000, + "shared_state": "vortex_off/scene_000162/shared_state.npz", + "video": "vortex_off/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000162/right.json", + "scene_id": "vortex_off/scene_000162", + "seed": 111620000, + "shared_state": "vortex_off/scene_000162/shared_state.npz", + "video": "vortex_off/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000163/left.json", + "scene_id": "vortex_off/scene_000163", + "seed": 111630000, + "shared_state": "vortex_off/scene_000163/shared_state.npz", + "video": "vortex_off/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000163/front.json", + "scene_id": "vortex_off/scene_000163", + "seed": 111630000, + "shared_state": "vortex_off/scene_000163/shared_state.npz", + "video": "vortex_off/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000163/right.json", + "scene_id": "vortex_off/scene_000163", + "seed": 111630000, + "shared_state": "vortex_off/scene_000163/shared_state.npz", + "video": "vortex_off/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000164/left.json", + "scene_id": "vortex_off/scene_000164", + "seed": 111640000, + "shared_state": "vortex_off/scene_000164/shared_state.npz", + "video": "vortex_off/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000164/front.json", + "scene_id": "vortex_off/scene_000164", + "seed": 111640000, + "shared_state": "vortex_off/scene_000164/shared_state.npz", + "video": "vortex_off/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000164/right.json", + "scene_id": "vortex_off/scene_000164", + "seed": 111640000, + "shared_state": "vortex_off/scene_000164/shared_state.npz", + "video": "vortex_off/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000165/left.json", + "scene_id": "vortex_off/scene_000165", + "seed": 111650000, + "shared_state": "vortex_off/scene_000165/shared_state.npz", + "video": "vortex_off/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000165/front.json", + "scene_id": "vortex_off/scene_000165", + "seed": 111650000, + "shared_state": "vortex_off/scene_000165/shared_state.npz", + "video": "vortex_off/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000165/right.json", + "scene_id": "vortex_off/scene_000165", + "seed": 111650000, + "shared_state": "vortex_off/scene_000165/shared_state.npz", + "video": "vortex_off/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000166/left.json", + "scene_id": "vortex_off/scene_000166", + "seed": 111660000, + "shared_state": "vortex_off/scene_000166/shared_state.npz", + "video": "vortex_off/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000166/front.json", + "scene_id": "vortex_off/scene_000166", + "seed": 111660000, + "shared_state": "vortex_off/scene_000166/shared_state.npz", + "video": "vortex_off/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000166/right.json", + "scene_id": "vortex_off/scene_000166", + "seed": 111660000, + "shared_state": "vortex_off/scene_000166/shared_state.npz", + "video": "vortex_off/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000167/left.json", + "scene_id": "vortex_off/scene_000167", + "seed": 111670000, + "shared_state": "vortex_off/scene_000167/shared_state.npz", + "video": "vortex_off/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000167/front.json", + "scene_id": "vortex_off/scene_000167", + "seed": 111670000, + "shared_state": "vortex_off/scene_000167/shared_state.npz", + "video": "vortex_off/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000167/right.json", + "scene_id": "vortex_off/scene_000167", + "seed": 111670000, + "shared_state": "vortex_off/scene_000167/shared_state.npz", + "video": "vortex_off/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000168/left.json", + "scene_id": "vortex_off/scene_000168", + "seed": 111680000, + "shared_state": "vortex_off/scene_000168/shared_state.npz", + "video": "vortex_off/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000168/front.json", + "scene_id": "vortex_off/scene_000168", + "seed": 111680000, + "shared_state": "vortex_off/scene_000168/shared_state.npz", + "video": "vortex_off/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000168/right.json", + "scene_id": "vortex_off/scene_000168", + "seed": 111680000, + "shared_state": "vortex_off/scene_000168/shared_state.npz", + "video": "vortex_off/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000169/left.json", + "scene_id": "vortex_off/scene_000169", + "seed": 111690000, + "shared_state": "vortex_off/scene_000169/shared_state.npz", + "video": "vortex_off/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000169/front.json", + "scene_id": "vortex_off/scene_000169", + "seed": 111690000, + "shared_state": "vortex_off/scene_000169/shared_state.npz", + "video": "vortex_off/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000169/right.json", + "scene_id": "vortex_off/scene_000169", + "seed": 111690000, + "shared_state": "vortex_off/scene_000169/shared_state.npz", + "video": "vortex_off/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000170/left.json", + "scene_id": "vortex_off/scene_000170", + "seed": 111700000, + "shared_state": "vortex_off/scene_000170/shared_state.npz", + "video": "vortex_off/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000170/front.json", + "scene_id": "vortex_off/scene_000170", + "seed": 111700000, + "shared_state": "vortex_off/scene_000170/shared_state.npz", + "video": "vortex_off/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000170/right.json", + "scene_id": "vortex_off/scene_000170", + "seed": 111700000, + "shared_state": "vortex_off/scene_000170/shared_state.npz", + "video": "vortex_off/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000171/left.json", + "scene_id": "vortex_off/scene_000171", + "seed": 111710000, + "shared_state": "vortex_off/scene_000171/shared_state.npz", + "video": "vortex_off/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000171/front.json", + "scene_id": "vortex_off/scene_000171", + "seed": 111710000, + "shared_state": "vortex_off/scene_000171/shared_state.npz", + "video": "vortex_off/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000171/right.json", + "scene_id": "vortex_off/scene_000171", + "seed": 111710000, + "shared_state": "vortex_off/scene_000171/shared_state.npz", + "video": "vortex_off/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000172/left.json", + "scene_id": "vortex_off/scene_000172", + "seed": 111720000, + "shared_state": "vortex_off/scene_000172/shared_state.npz", + "video": "vortex_off/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000172/front.json", + "scene_id": "vortex_off/scene_000172", + "seed": 111720000, + "shared_state": "vortex_off/scene_000172/shared_state.npz", + "video": "vortex_off/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000172/right.json", + "scene_id": "vortex_off/scene_000172", + "seed": 111720000, + "shared_state": "vortex_off/scene_000172/shared_state.npz", + "video": "vortex_off/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000173/left.json", + "scene_id": "vortex_off/scene_000173", + "seed": 111730000, + "shared_state": "vortex_off/scene_000173/shared_state.npz", + "video": "vortex_off/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000173/front.json", + "scene_id": "vortex_off/scene_000173", + "seed": 111730000, + "shared_state": "vortex_off/scene_000173/shared_state.npz", + "video": "vortex_off/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000173/right.json", + "scene_id": "vortex_off/scene_000173", + "seed": 111730000, + "shared_state": "vortex_off/scene_000173/shared_state.npz", + "video": "vortex_off/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000174/left.json", + "scene_id": "vortex_off/scene_000174", + "seed": 111740000, + "shared_state": "vortex_off/scene_000174/shared_state.npz", + "video": "vortex_off/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000174/front.json", + "scene_id": "vortex_off/scene_000174", + "seed": 111740000, + "shared_state": "vortex_off/scene_000174/shared_state.npz", + "video": "vortex_off/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000174/right.json", + "scene_id": "vortex_off/scene_000174", + "seed": 111740000, + "shared_state": "vortex_off/scene_000174/shared_state.npz", + "video": "vortex_off/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000175/left.json", + "scene_id": "vortex_off/scene_000175", + "seed": 111750000, + "shared_state": "vortex_off/scene_000175/shared_state.npz", + "video": "vortex_off/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000175/front.json", + "scene_id": "vortex_off/scene_000175", + "seed": 111750000, + "shared_state": "vortex_off/scene_000175/shared_state.npz", + "video": "vortex_off/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000175/right.json", + "scene_id": "vortex_off/scene_000175", + "seed": 111750000, + "shared_state": "vortex_off/scene_000175/shared_state.npz", + "video": "vortex_off/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000176/left.json", + "scene_id": "vortex_off/scene_000176", + "seed": 111760000, + "shared_state": "vortex_off/scene_000176/shared_state.npz", + "video": "vortex_off/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000176/front.json", + "scene_id": "vortex_off/scene_000176", + "seed": 111760000, + "shared_state": "vortex_off/scene_000176/shared_state.npz", + "video": "vortex_off/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000176/right.json", + "scene_id": "vortex_off/scene_000176", + "seed": 111760000, + "shared_state": "vortex_off/scene_000176/shared_state.npz", + "video": "vortex_off/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000177/left.json", + "scene_id": "vortex_off/scene_000177", + "seed": 111770000, + "shared_state": "vortex_off/scene_000177/shared_state.npz", + "video": "vortex_off/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000177/front.json", + "scene_id": "vortex_off/scene_000177", + "seed": 111770000, + "shared_state": "vortex_off/scene_000177/shared_state.npz", + "video": "vortex_off/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000177/right.json", + "scene_id": "vortex_off/scene_000177", + "seed": 111770000, + "shared_state": "vortex_off/scene_000177/shared_state.npz", + "video": "vortex_off/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000178/left.json", + "scene_id": "vortex_off/scene_000178", + "seed": 111780001, + "shared_state": "vortex_off/scene_000178/shared_state.npz", + "video": "vortex_off/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000178/front.json", + "scene_id": "vortex_off/scene_000178", + "seed": 111780001, + "shared_state": "vortex_off/scene_000178/shared_state.npz", + "video": "vortex_off/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000178/right.json", + "scene_id": "vortex_off/scene_000178", + "seed": 111780001, + "shared_state": "vortex_off/scene_000178/shared_state.npz", + "video": "vortex_off/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000179/left.json", + "scene_id": "vortex_off/scene_000179", + "seed": 111790000, + "shared_state": "vortex_off/scene_000179/shared_state.npz", + "video": "vortex_off/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000179/front.json", + "scene_id": "vortex_off/scene_000179", + "seed": 111790000, + "shared_state": "vortex_off/scene_000179/shared_state.npz", + "video": "vortex_off/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000179/right.json", + "scene_id": "vortex_off/scene_000179", + "seed": 111790000, + "shared_state": "vortex_off/scene_000179/shared_state.npz", + "video": "vortex_off/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000180/left.json", + "scene_id": "vortex_off/scene_000180", + "seed": 111800000, + "shared_state": "vortex_off/scene_000180/shared_state.npz", + "video": "vortex_off/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000180/front.json", + "scene_id": "vortex_off/scene_000180", + "seed": 111800000, + "shared_state": "vortex_off/scene_000180/shared_state.npz", + "video": "vortex_off/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000180/right.json", + "scene_id": "vortex_off/scene_000180", + "seed": 111800000, + "shared_state": "vortex_off/scene_000180/shared_state.npz", + "video": "vortex_off/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000181/left.json", + "scene_id": "vortex_off/scene_000181", + "seed": 111810000, + "shared_state": "vortex_off/scene_000181/shared_state.npz", + "video": "vortex_off/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000181/front.json", + "scene_id": "vortex_off/scene_000181", + "seed": 111810000, + "shared_state": "vortex_off/scene_000181/shared_state.npz", + "video": "vortex_off/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000181/right.json", + "scene_id": "vortex_off/scene_000181", + "seed": 111810000, + "shared_state": "vortex_off/scene_000181/shared_state.npz", + "video": "vortex_off/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000182/left.json", + "scene_id": "vortex_off/scene_000182", + "seed": 111820000, + "shared_state": "vortex_off/scene_000182/shared_state.npz", + "video": "vortex_off/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000182/front.json", + "scene_id": "vortex_off/scene_000182", + "seed": 111820000, + "shared_state": "vortex_off/scene_000182/shared_state.npz", + "video": "vortex_off/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000182/right.json", + "scene_id": "vortex_off/scene_000182", + "seed": 111820000, + "shared_state": "vortex_off/scene_000182/shared_state.npz", + "video": "vortex_off/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000183/left.json", + "scene_id": "vortex_off/scene_000183", + "seed": 111830000, + "shared_state": "vortex_off/scene_000183/shared_state.npz", + "video": "vortex_off/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000183/front.json", + "scene_id": "vortex_off/scene_000183", + "seed": 111830000, + "shared_state": "vortex_off/scene_000183/shared_state.npz", + "video": "vortex_off/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000183/right.json", + "scene_id": "vortex_off/scene_000183", + "seed": 111830000, + "shared_state": "vortex_off/scene_000183/shared_state.npz", + "video": "vortex_off/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000184/left.json", + "scene_id": "vortex_off/scene_000184", + "seed": 111840000, + "shared_state": "vortex_off/scene_000184/shared_state.npz", + "video": "vortex_off/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000184/front.json", + "scene_id": "vortex_off/scene_000184", + "seed": 111840000, + "shared_state": "vortex_off/scene_000184/shared_state.npz", + "video": "vortex_off/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000184/right.json", + "scene_id": "vortex_off/scene_000184", + "seed": 111840000, + "shared_state": "vortex_off/scene_000184/shared_state.npz", + "video": "vortex_off/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000185/left.json", + "scene_id": "vortex_off/scene_000185", + "seed": 111850000, + "shared_state": "vortex_off/scene_000185/shared_state.npz", + "video": "vortex_off/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000185/front.json", + "scene_id": "vortex_off/scene_000185", + "seed": 111850000, + "shared_state": "vortex_off/scene_000185/shared_state.npz", + "video": "vortex_off/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000185/right.json", + "scene_id": "vortex_off/scene_000185", + "seed": 111850000, + "shared_state": "vortex_off/scene_000185/shared_state.npz", + "video": "vortex_off/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000186/left.json", + "scene_id": "vortex_off/scene_000186", + "seed": 111860000, + "shared_state": "vortex_off/scene_000186/shared_state.npz", + "video": "vortex_off/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000186/front.json", + "scene_id": "vortex_off/scene_000186", + "seed": 111860000, + "shared_state": "vortex_off/scene_000186/shared_state.npz", + "video": "vortex_off/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000186/right.json", + "scene_id": "vortex_off/scene_000186", + "seed": 111860000, + "shared_state": "vortex_off/scene_000186/shared_state.npz", + "video": "vortex_off/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000187/left.json", + "scene_id": "vortex_off/scene_000187", + "seed": 111870000, + "shared_state": "vortex_off/scene_000187/shared_state.npz", + "video": "vortex_off/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000187/front.json", + "scene_id": "vortex_off/scene_000187", + "seed": 111870000, + "shared_state": "vortex_off/scene_000187/shared_state.npz", + "video": "vortex_off/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000187/right.json", + "scene_id": "vortex_off/scene_000187", + "seed": 111870000, + "shared_state": "vortex_off/scene_000187/shared_state.npz", + "video": "vortex_off/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000188/left.json", + "scene_id": "vortex_off/scene_000188", + "seed": 111880000, + "shared_state": "vortex_off/scene_000188/shared_state.npz", + "video": "vortex_off/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000188/front.json", + "scene_id": "vortex_off/scene_000188", + "seed": 111880000, + "shared_state": "vortex_off/scene_000188/shared_state.npz", + "video": "vortex_off/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000188/right.json", + "scene_id": "vortex_off/scene_000188", + "seed": 111880000, + "shared_state": "vortex_off/scene_000188/shared_state.npz", + "video": "vortex_off/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000189/left.json", + "scene_id": "vortex_off/scene_000189", + "seed": 111890000, + "shared_state": "vortex_off/scene_000189/shared_state.npz", + "video": "vortex_off/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000189/front.json", + "scene_id": "vortex_off/scene_000189", + "seed": 111890000, + "shared_state": "vortex_off/scene_000189/shared_state.npz", + "video": "vortex_off/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000189/right.json", + "scene_id": "vortex_off/scene_000189", + "seed": 111890000, + "shared_state": "vortex_off/scene_000189/shared_state.npz", + "video": "vortex_off/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000190/left.json", + "scene_id": "vortex_off/scene_000190", + "seed": 111900000, + "shared_state": "vortex_off/scene_000190/shared_state.npz", + "video": "vortex_off/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000190/front.json", + "scene_id": "vortex_off/scene_000190", + "seed": 111900000, + "shared_state": "vortex_off/scene_000190/shared_state.npz", + "video": "vortex_off/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000190/right.json", + "scene_id": "vortex_off/scene_000190", + "seed": 111900000, + "shared_state": "vortex_off/scene_000190/shared_state.npz", + "video": "vortex_off/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000191/left.json", + "scene_id": "vortex_off/scene_000191", + "seed": 111910000, + "shared_state": "vortex_off/scene_000191/shared_state.npz", + "video": "vortex_off/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000191/front.json", + "scene_id": "vortex_off/scene_000191", + "seed": 111910000, + "shared_state": "vortex_off/scene_000191/shared_state.npz", + "video": "vortex_off/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000191/right.json", + "scene_id": "vortex_off/scene_000191", + "seed": 111910000, + "shared_state": "vortex_off/scene_000191/shared_state.npz", + "video": "vortex_off/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000192/left.json", + "scene_id": "vortex_off/scene_000192", + "seed": 111920000, + "shared_state": "vortex_off/scene_000192/shared_state.npz", + "video": "vortex_off/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000192/front.json", + "scene_id": "vortex_off/scene_000192", + "seed": 111920000, + "shared_state": "vortex_off/scene_000192/shared_state.npz", + "video": "vortex_off/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000192/right.json", + "scene_id": "vortex_off/scene_000192", + "seed": 111920000, + "shared_state": "vortex_off/scene_000192/shared_state.npz", + "video": "vortex_off/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000193/left.json", + "scene_id": "vortex_off/scene_000193", + "seed": 111930000, + "shared_state": "vortex_off/scene_000193/shared_state.npz", + "video": "vortex_off/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000193/front.json", + "scene_id": "vortex_off/scene_000193", + "seed": 111930000, + "shared_state": "vortex_off/scene_000193/shared_state.npz", + "video": "vortex_off/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000193/right.json", + "scene_id": "vortex_off/scene_000193", + "seed": 111930000, + "shared_state": "vortex_off/scene_000193/shared_state.npz", + "video": "vortex_off/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000194/left.json", + "scene_id": "vortex_off/scene_000194", + "seed": 111940000, + "shared_state": "vortex_off/scene_000194/shared_state.npz", + "video": "vortex_off/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000194/front.json", + "scene_id": "vortex_off/scene_000194", + "seed": 111940000, + "shared_state": "vortex_off/scene_000194/shared_state.npz", + "video": "vortex_off/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000194/right.json", + "scene_id": "vortex_off/scene_000194", + "seed": 111940000, + "shared_state": "vortex_off/scene_000194/shared_state.npz", + "video": "vortex_off/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000195/left.json", + "scene_id": "vortex_off/scene_000195", + "seed": 111950000, + "shared_state": "vortex_off/scene_000195/shared_state.npz", + "video": "vortex_off/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000195/front.json", + "scene_id": "vortex_off/scene_000195", + "seed": 111950000, + "shared_state": "vortex_off/scene_000195/shared_state.npz", + "video": "vortex_off/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000195/right.json", + "scene_id": "vortex_off/scene_000195", + "seed": 111950000, + "shared_state": "vortex_off/scene_000195/shared_state.npz", + "video": "vortex_off/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000196/left.json", + "scene_id": "vortex_off/scene_000196", + "seed": 111960000, + "shared_state": "vortex_off/scene_000196/shared_state.npz", + "video": "vortex_off/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000196/front.json", + "scene_id": "vortex_off/scene_000196", + "seed": 111960000, + "shared_state": "vortex_off/scene_000196/shared_state.npz", + "video": "vortex_off/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000196/right.json", + "scene_id": "vortex_off/scene_000196", + "seed": 111960000, + "shared_state": "vortex_off/scene_000196/shared_state.npz", + "video": "vortex_off/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000197/left.json", + "scene_id": "vortex_off/scene_000197", + "seed": 111970000, + "shared_state": "vortex_off/scene_000197/shared_state.npz", + "video": "vortex_off/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000197/front.json", + "scene_id": "vortex_off/scene_000197", + "seed": 111970000, + "shared_state": "vortex_off/scene_000197/shared_state.npz", + "video": "vortex_off/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000197/right.json", + "scene_id": "vortex_off/scene_000197", + "seed": 111970000, + "shared_state": "vortex_off/scene_000197/shared_state.npz", + "video": "vortex_off/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000198/left.json", + "scene_id": "vortex_off/scene_000198", + "seed": 111980000, + "shared_state": "vortex_off/scene_000198/shared_state.npz", + "video": "vortex_off/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000198/front.json", + "scene_id": "vortex_off/scene_000198", + "seed": 111980000, + "shared_state": "vortex_off/scene_000198/shared_state.npz", + "video": "vortex_off/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000198/right.json", + "scene_id": "vortex_off/scene_000198", + "seed": 111980000, + "shared_state": "vortex_off/scene_000198/shared_state.npz", + "video": "vortex_off/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000199/left.json", + "scene_id": "vortex_off/scene_000199", + "seed": 111990000, + "shared_state": "vortex_off/scene_000199/shared_state.npz", + "video": "vortex_off/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000199/front.json", + "scene_id": "vortex_off/scene_000199", + "seed": 111990000, + "shared_state": "vortex_off/scene_000199/shared_state.npz", + "video": "vortex_off/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000199/right.json", + "scene_id": "vortex_off/scene_000199", + "seed": 111990000, + "shared_state": "vortex_off/scene_000199/shared_state.npz", + "video": "vortex_off/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000200/left.json", + "scene_id": "vortex_off/scene_000200", + "seed": 112000000, + "shared_state": "vortex_off/scene_000200/shared_state.npz", + "video": "vortex_off/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000200/front.json", + "scene_id": "vortex_off/scene_000200", + "seed": 112000000, + "shared_state": "vortex_off/scene_000200/shared_state.npz", + "video": "vortex_off/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000200/right.json", + "scene_id": "vortex_off/scene_000200", + "seed": 112000000, + "shared_state": "vortex_off/scene_000200/shared_state.npz", + "video": "vortex_off/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000201/left.json", + "scene_id": "vortex_off/scene_000201", + "seed": 112010000, + "shared_state": "vortex_off/scene_000201/shared_state.npz", + "video": "vortex_off/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000201/front.json", + "scene_id": "vortex_off/scene_000201", + "seed": 112010000, + "shared_state": "vortex_off/scene_000201/shared_state.npz", + "video": "vortex_off/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000201/right.json", + "scene_id": "vortex_off/scene_000201", + "seed": 112010000, + "shared_state": "vortex_off/scene_000201/shared_state.npz", + "video": "vortex_off/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000202/left.json", + "scene_id": "vortex_off/scene_000202", + "seed": 112020000, + "shared_state": "vortex_off/scene_000202/shared_state.npz", + "video": "vortex_off/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000202/front.json", + "scene_id": "vortex_off/scene_000202", + "seed": 112020000, + "shared_state": "vortex_off/scene_000202/shared_state.npz", + "video": "vortex_off/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000202/right.json", + "scene_id": "vortex_off/scene_000202", + "seed": 112020000, + "shared_state": "vortex_off/scene_000202/shared_state.npz", + "video": "vortex_off/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000203/left.json", + "scene_id": "vortex_off/scene_000203", + "seed": 112030000, + "shared_state": "vortex_off/scene_000203/shared_state.npz", + "video": "vortex_off/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000203/front.json", + "scene_id": "vortex_off/scene_000203", + "seed": 112030000, + "shared_state": "vortex_off/scene_000203/shared_state.npz", + "video": "vortex_off/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000203/right.json", + "scene_id": "vortex_off/scene_000203", + "seed": 112030000, + "shared_state": "vortex_off/scene_000203/shared_state.npz", + "video": "vortex_off/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000204/left.json", + "scene_id": "vortex_off/scene_000204", + "seed": 112040000, + "shared_state": "vortex_off/scene_000204/shared_state.npz", + "video": "vortex_off/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000204/front.json", + "scene_id": "vortex_off/scene_000204", + "seed": 112040000, + "shared_state": "vortex_off/scene_000204/shared_state.npz", + "video": "vortex_off/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000204/right.json", + "scene_id": "vortex_off/scene_000204", + "seed": 112040000, + "shared_state": "vortex_off/scene_000204/shared_state.npz", + "video": "vortex_off/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000205/left.json", + "scene_id": "vortex_off/scene_000205", + "seed": 112050000, + "shared_state": "vortex_off/scene_000205/shared_state.npz", + "video": "vortex_off/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000205/front.json", + "scene_id": "vortex_off/scene_000205", + "seed": 112050000, + "shared_state": "vortex_off/scene_000205/shared_state.npz", + "video": "vortex_off/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000205/right.json", + "scene_id": "vortex_off/scene_000205", + "seed": 112050000, + "shared_state": "vortex_off/scene_000205/shared_state.npz", + "video": "vortex_off/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000206/left.json", + "scene_id": "vortex_off/scene_000206", + "seed": 112060000, + "shared_state": "vortex_off/scene_000206/shared_state.npz", + "video": "vortex_off/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000206/front.json", + "scene_id": "vortex_off/scene_000206", + "seed": 112060000, + "shared_state": "vortex_off/scene_000206/shared_state.npz", + "video": "vortex_off/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000206/right.json", + "scene_id": "vortex_off/scene_000206", + "seed": 112060000, + "shared_state": "vortex_off/scene_000206/shared_state.npz", + "video": "vortex_off/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000207/left.json", + "scene_id": "vortex_off/scene_000207", + "seed": 112070000, + "shared_state": "vortex_off/scene_000207/shared_state.npz", + "video": "vortex_off/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000207/front.json", + "scene_id": "vortex_off/scene_000207", + "seed": 112070000, + "shared_state": "vortex_off/scene_000207/shared_state.npz", + "video": "vortex_off/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000207/right.json", + "scene_id": "vortex_off/scene_000207", + "seed": 112070000, + "shared_state": "vortex_off/scene_000207/shared_state.npz", + "video": "vortex_off/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000208/left.json", + "scene_id": "vortex_off/scene_000208", + "seed": 112080000, + "shared_state": "vortex_off/scene_000208/shared_state.npz", + "video": "vortex_off/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000208/front.json", + "scene_id": "vortex_off/scene_000208", + "seed": 112080000, + "shared_state": "vortex_off/scene_000208/shared_state.npz", + "video": "vortex_off/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000208/right.json", + "scene_id": "vortex_off/scene_000208", + "seed": 112080000, + "shared_state": "vortex_off/scene_000208/shared_state.npz", + "video": "vortex_off/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000209/left.json", + "scene_id": "vortex_off/scene_000209", + "seed": 112090000, + "shared_state": "vortex_off/scene_000209/shared_state.npz", + "video": "vortex_off/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000209/front.json", + "scene_id": "vortex_off/scene_000209", + "seed": 112090000, + "shared_state": "vortex_off/scene_000209/shared_state.npz", + "video": "vortex_off/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000209/right.json", + "scene_id": "vortex_off/scene_000209", + "seed": 112090000, + "shared_state": "vortex_off/scene_000209/shared_state.npz", + "video": "vortex_off/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000210/left.json", + "scene_id": "vortex_off/scene_000210", + "seed": 112100000, + "shared_state": "vortex_off/scene_000210/shared_state.npz", + "video": "vortex_off/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000210/front.json", + "scene_id": "vortex_off/scene_000210", + "seed": 112100000, + "shared_state": "vortex_off/scene_000210/shared_state.npz", + "video": "vortex_off/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000210/right.json", + "scene_id": "vortex_off/scene_000210", + "seed": 112100000, + "shared_state": "vortex_off/scene_000210/shared_state.npz", + "video": "vortex_off/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000211/left.json", + "scene_id": "vortex_off/scene_000211", + "seed": 112110000, + "shared_state": "vortex_off/scene_000211/shared_state.npz", + "video": "vortex_off/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000211/front.json", + "scene_id": "vortex_off/scene_000211", + "seed": 112110000, + "shared_state": "vortex_off/scene_000211/shared_state.npz", + "video": "vortex_off/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000211/right.json", + "scene_id": "vortex_off/scene_000211", + "seed": 112110000, + "shared_state": "vortex_off/scene_000211/shared_state.npz", + "video": "vortex_off/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000212/left.json", + "scene_id": "vortex_off/scene_000212", + "seed": 112120000, + "shared_state": "vortex_off/scene_000212/shared_state.npz", + "video": "vortex_off/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000212/front.json", + "scene_id": "vortex_off/scene_000212", + "seed": 112120000, + "shared_state": "vortex_off/scene_000212/shared_state.npz", + "video": "vortex_off/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000212/right.json", + "scene_id": "vortex_off/scene_000212", + "seed": 112120000, + "shared_state": "vortex_off/scene_000212/shared_state.npz", + "video": "vortex_off/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000213/left.json", + "scene_id": "vortex_off/scene_000213", + "seed": 112130000, + "shared_state": "vortex_off/scene_000213/shared_state.npz", + "video": "vortex_off/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000213/front.json", + "scene_id": "vortex_off/scene_000213", + "seed": 112130000, + "shared_state": "vortex_off/scene_000213/shared_state.npz", + "video": "vortex_off/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000213/right.json", + "scene_id": "vortex_off/scene_000213", + "seed": 112130000, + "shared_state": "vortex_off/scene_000213/shared_state.npz", + "video": "vortex_off/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000214/left.json", + "scene_id": "vortex_off/scene_000214", + "seed": 112140000, + "shared_state": "vortex_off/scene_000214/shared_state.npz", + "video": "vortex_off/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000214/front.json", + "scene_id": "vortex_off/scene_000214", + "seed": 112140000, + "shared_state": "vortex_off/scene_000214/shared_state.npz", + "video": "vortex_off/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000214/right.json", + "scene_id": "vortex_off/scene_000214", + "seed": 112140000, + "shared_state": "vortex_off/scene_000214/shared_state.npz", + "video": "vortex_off/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000215/left.json", + "scene_id": "vortex_off/scene_000215", + "seed": 112150000, + "shared_state": "vortex_off/scene_000215/shared_state.npz", + "video": "vortex_off/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000215/front.json", + "scene_id": "vortex_off/scene_000215", + "seed": 112150000, + "shared_state": "vortex_off/scene_000215/shared_state.npz", + "video": "vortex_off/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000215/right.json", + "scene_id": "vortex_off/scene_000215", + "seed": 112150000, + "shared_state": "vortex_off/scene_000215/shared_state.npz", + "video": "vortex_off/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000216/left.json", + "scene_id": "vortex_off/scene_000216", + "seed": 112160000, + "shared_state": "vortex_off/scene_000216/shared_state.npz", + "video": "vortex_off/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000216/front.json", + "scene_id": "vortex_off/scene_000216", + "seed": 112160000, + "shared_state": "vortex_off/scene_000216/shared_state.npz", + "video": "vortex_off/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000216/right.json", + "scene_id": "vortex_off/scene_000216", + "seed": 112160000, + "shared_state": "vortex_off/scene_000216/shared_state.npz", + "video": "vortex_off/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000217/left.json", + "scene_id": "vortex_off/scene_000217", + "seed": 112170000, + "shared_state": "vortex_off/scene_000217/shared_state.npz", + "video": "vortex_off/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000217/front.json", + "scene_id": "vortex_off/scene_000217", + "seed": 112170000, + "shared_state": "vortex_off/scene_000217/shared_state.npz", + "video": "vortex_off/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000217/right.json", + "scene_id": "vortex_off/scene_000217", + "seed": 112170000, + "shared_state": "vortex_off/scene_000217/shared_state.npz", + "video": "vortex_off/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000218/left.json", + "scene_id": "vortex_off/scene_000218", + "seed": 112180000, + "shared_state": "vortex_off/scene_000218/shared_state.npz", + "video": "vortex_off/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000218/front.json", + "scene_id": "vortex_off/scene_000218", + "seed": 112180000, + "shared_state": "vortex_off/scene_000218/shared_state.npz", + "video": "vortex_off/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000218/right.json", + "scene_id": "vortex_off/scene_000218", + "seed": 112180000, + "shared_state": "vortex_off/scene_000218/shared_state.npz", + "video": "vortex_off/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000219/left.json", + "scene_id": "vortex_off/scene_000219", + "seed": 112190000, + "shared_state": "vortex_off/scene_000219/shared_state.npz", + "video": "vortex_off/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000219/front.json", + "scene_id": "vortex_off/scene_000219", + "seed": 112190000, + "shared_state": "vortex_off/scene_000219/shared_state.npz", + "video": "vortex_off/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000219/right.json", + "scene_id": "vortex_off/scene_000219", + "seed": 112190000, + "shared_state": "vortex_off/scene_000219/shared_state.npz", + "video": "vortex_off/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000220/left.json", + "scene_id": "vortex_off/scene_000220", + "seed": 112200000, + "shared_state": "vortex_off/scene_000220/shared_state.npz", + "video": "vortex_off/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000220/front.json", + "scene_id": "vortex_off/scene_000220", + "seed": 112200000, + "shared_state": "vortex_off/scene_000220/shared_state.npz", + "video": "vortex_off/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000220/right.json", + "scene_id": "vortex_off/scene_000220", + "seed": 112200000, + "shared_state": "vortex_off/scene_000220/shared_state.npz", + "video": "vortex_off/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000221/left.json", + "scene_id": "vortex_off/scene_000221", + "seed": 112210000, + "shared_state": "vortex_off/scene_000221/shared_state.npz", + "video": "vortex_off/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000221/front.json", + "scene_id": "vortex_off/scene_000221", + "seed": 112210000, + "shared_state": "vortex_off/scene_000221/shared_state.npz", + "video": "vortex_off/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000221/right.json", + "scene_id": "vortex_off/scene_000221", + "seed": 112210000, + "shared_state": "vortex_off/scene_000221/shared_state.npz", + "video": "vortex_off/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000222/left.json", + "scene_id": "vortex_off/scene_000222", + "seed": 112220000, + "shared_state": "vortex_off/scene_000222/shared_state.npz", + "video": "vortex_off/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000222/front.json", + "scene_id": "vortex_off/scene_000222", + "seed": 112220000, + "shared_state": "vortex_off/scene_000222/shared_state.npz", + "video": "vortex_off/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000222/right.json", + "scene_id": "vortex_off/scene_000222", + "seed": 112220000, + "shared_state": "vortex_off/scene_000222/shared_state.npz", + "video": "vortex_off/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000223/left.json", + "scene_id": "vortex_off/scene_000223", + "seed": 112230000, + "shared_state": "vortex_off/scene_000223/shared_state.npz", + "video": "vortex_off/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000223/front.json", + "scene_id": "vortex_off/scene_000223", + "seed": 112230000, + "shared_state": "vortex_off/scene_000223/shared_state.npz", + "video": "vortex_off/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000223/right.json", + "scene_id": "vortex_off/scene_000223", + "seed": 112230000, + "shared_state": "vortex_off/scene_000223/shared_state.npz", + "video": "vortex_off/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000224/left.json", + "scene_id": "vortex_off/scene_000224", + "seed": 112240000, + "shared_state": "vortex_off/scene_000224/shared_state.npz", + "video": "vortex_off/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000224/front.json", + "scene_id": "vortex_off/scene_000224", + "seed": 112240000, + "shared_state": "vortex_off/scene_000224/shared_state.npz", + "video": "vortex_off/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000224/right.json", + "scene_id": "vortex_off/scene_000224", + "seed": 112240000, + "shared_state": "vortex_off/scene_000224/shared_state.npz", + "video": "vortex_off/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000225/left.json", + "scene_id": "vortex_off/scene_000225", + "seed": 112250000, + "shared_state": "vortex_off/scene_000225/shared_state.npz", + "video": "vortex_off/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000225/front.json", + "scene_id": "vortex_off/scene_000225", + "seed": 112250000, + "shared_state": "vortex_off/scene_000225/shared_state.npz", + "video": "vortex_off/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000225/right.json", + "scene_id": "vortex_off/scene_000225", + "seed": 112250000, + "shared_state": "vortex_off/scene_000225/shared_state.npz", + "video": "vortex_off/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000226/left.json", + "scene_id": "vortex_off/scene_000226", + "seed": 112260000, + "shared_state": "vortex_off/scene_000226/shared_state.npz", + "video": "vortex_off/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000226/front.json", + "scene_id": "vortex_off/scene_000226", + "seed": 112260000, + "shared_state": "vortex_off/scene_000226/shared_state.npz", + "video": "vortex_off/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000226/right.json", + "scene_id": "vortex_off/scene_000226", + "seed": 112260000, + "shared_state": "vortex_off/scene_000226/shared_state.npz", + "video": "vortex_off/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000227/left.json", + "scene_id": "vortex_off/scene_000227", + "seed": 112270000, + "shared_state": "vortex_off/scene_000227/shared_state.npz", + "video": "vortex_off/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000227/front.json", + "scene_id": "vortex_off/scene_000227", + "seed": 112270000, + "shared_state": "vortex_off/scene_000227/shared_state.npz", + "video": "vortex_off/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000227/right.json", + "scene_id": "vortex_off/scene_000227", + "seed": 112270000, + "shared_state": "vortex_off/scene_000227/shared_state.npz", + "video": "vortex_off/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000228/left.json", + "scene_id": "vortex_off/scene_000228", + "seed": 112280000, + "shared_state": "vortex_off/scene_000228/shared_state.npz", + "video": "vortex_off/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000228/front.json", + "scene_id": "vortex_off/scene_000228", + "seed": 112280000, + "shared_state": "vortex_off/scene_000228/shared_state.npz", + "video": "vortex_off/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000228/right.json", + "scene_id": "vortex_off/scene_000228", + "seed": 112280000, + "shared_state": "vortex_off/scene_000228/shared_state.npz", + "video": "vortex_off/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000229/left.json", + "scene_id": "vortex_off/scene_000229", + "seed": 112290000, + "shared_state": "vortex_off/scene_000229/shared_state.npz", + "video": "vortex_off/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000229/front.json", + "scene_id": "vortex_off/scene_000229", + "seed": 112290000, + "shared_state": "vortex_off/scene_000229/shared_state.npz", + "video": "vortex_off/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000229/right.json", + "scene_id": "vortex_off/scene_000229", + "seed": 112290000, + "shared_state": "vortex_off/scene_000229/shared_state.npz", + "video": "vortex_off/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000230/left.json", + "scene_id": "vortex_off/scene_000230", + "seed": 112300000, + "shared_state": "vortex_off/scene_000230/shared_state.npz", + "video": "vortex_off/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000230/front.json", + "scene_id": "vortex_off/scene_000230", + "seed": 112300000, + "shared_state": "vortex_off/scene_000230/shared_state.npz", + "video": "vortex_off/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000230/right.json", + "scene_id": "vortex_off/scene_000230", + "seed": 112300000, + "shared_state": "vortex_off/scene_000230/shared_state.npz", + "video": "vortex_off/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000231/left.json", + "scene_id": "vortex_off/scene_000231", + "seed": 112310000, + "shared_state": "vortex_off/scene_000231/shared_state.npz", + "video": "vortex_off/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000231/front.json", + "scene_id": "vortex_off/scene_000231", + "seed": 112310000, + "shared_state": "vortex_off/scene_000231/shared_state.npz", + "video": "vortex_off/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000231/right.json", + "scene_id": "vortex_off/scene_000231", + "seed": 112310000, + "shared_state": "vortex_off/scene_000231/shared_state.npz", + "video": "vortex_off/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000232/left.json", + "scene_id": "vortex_off/scene_000232", + "seed": 112320000, + "shared_state": "vortex_off/scene_000232/shared_state.npz", + "video": "vortex_off/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000232/front.json", + "scene_id": "vortex_off/scene_000232", + "seed": 112320000, + "shared_state": "vortex_off/scene_000232/shared_state.npz", + "video": "vortex_off/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000232/right.json", + "scene_id": "vortex_off/scene_000232", + "seed": 112320000, + "shared_state": "vortex_off/scene_000232/shared_state.npz", + "video": "vortex_off/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000233/left.json", + "scene_id": "vortex_off/scene_000233", + "seed": 112330000, + "shared_state": "vortex_off/scene_000233/shared_state.npz", + "video": "vortex_off/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000233/front.json", + "scene_id": "vortex_off/scene_000233", + "seed": 112330000, + "shared_state": "vortex_off/scene_000233/shared_state.npz", + "video": "vortex_off/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000233/right.json", + "scene_id": "vortex_off/scene_000233", + "seed": 112330000, + "shared_state": "vortex_off/scene_000233/shared_state.npz", + "video": "vortex_off/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000234/left.json", + "scene_id": "vortex_off/scene_000234", + "seed": 112340000, + "shared_state": "vortex_off/scene_000234/shared_state.npz", + "video": "vortex_off/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000234/front.json", + "scene_id": "vortex_off/scene_000234", + "seed": 112340000, + "shared_state": "vortex_off/scene_000234/shared_state.npz", + "video": "vortex_off/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000234/right.json", + "scene_id": "vortex_off/scene_000234", + "seed": 112340000, + "shared_state": "vortex_off/scene_000234/shared_state.npz", + "video": "vortex_off/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000235/left.json", + "scene_id": "vortex_off/scene_000235", + "seed": 112350000, + "shared_state": "vortex_off/scene_000235/shared_state.npz", + "video": "vortex_off/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000235/front.json", + "scene_id": "vortex_off/scene_000235", + "seed": 112350000, + "shared_state": "vortex_off/scene_000235/shared_state.npz", + "video": "vortex_off/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000235/right.json", + "scene_id": "vortex_off/scene_000235", + "seed": 112350000, + "shared_state": "vortex_off/scene_000235/shared_state.npz", + "video": "vortex_off/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000236/left.json", + "scene_id": "vortex_off/scene_000236", + "seed": 112360000, + "shared_state": "vortex_off/scene_000236/shared_state.npz", + "video": "vortex_off/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000236/front.json", + "scene_id": "vortex_off/scene_000236", + "seed": 112360000, + "shared_state": "vortex_off/scene_000236/shared_state.npz", + "video": "vortex_off/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000236/right.json", + "scene_id": "vortex_off/scene_000236", + "seed": 112360000, + "shared_state": "vortex_off/scene_000236/shared_state.npz", + "video": "vortex_off/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000237/left.json", + "scene_id": "vortex_off/scene_000237", + "seed": 112370000, + "shared_state": "vortex_off/scene_000237/shared_state.npz", + "video": "vortex_off/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000237/front.json", + "scene_id": "vortex_off/scene_000237", + "seed": 112370000, + "shared_state": "vortex_off/scene_000237/shared_state.npz", + "video": "vortex_off/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000237/right.json", + "scene_id": "vortex_off/scene_000237", + "seed": 112370000, + "shared_state": "vortex_off/scene_000237/shared_state.npz", + "video": "vortex_off/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000238/left.json", + "scene_id": "vortex_off/scene_000238", + "seed": 112380000, + "shared_state": "vortex_off/scene_000238/shared_state.npz", + "video": "vortex_off/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000238/front.json", + "scene_id": "vortex_off/scene_000238", + "seed": 112380000, + "shared_state": "vortex_off/scene_000238/shared_state.npz", + "video": "vortex_off/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000238/right.json", + "scene_id": "vortex_off/scene_000238", + "seed": 112380000, + "shared_state": "vortex_off/scene_000238/shared_state.npz", + "video": "vortex_off/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000239/left.json", + "scene_id": "vortex_off/scene_000239", + "seed": 112390000, + "shared_state": "vortex_off/scene_000239/shared_state.npz", + "video": "vortex_off/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000239/front.json", + "scene_id": "vortex_off/scene_000239", + "seed": 112390000, + "shared_state": "vortex_off/scene_000239/shared_state.npz", + "video": "vortex_off/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000239/right.json", + "scene_id": "vortex_off/scene_000239", + "seed": 112390000, + "shared_state": "vortex_off/scene_000239/shared_state.npz", + "video": "vortex_off/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000240/left.json", + "scene_id": "vortex_off/scene_000240", + "seed": 112400000, + "shared_state": "vortex_off/scene_000240/shared_state.npz", + "video": "vortex_off/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000240/front.json", + "scene_id": "vortex_off/scene_000240", + "seed": 112400000, + "shared_state": "vortex_off/scene_000240/shared_state.npz", + "video": "vortex_off/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000240/right.json", + "scene_id": "vortex_off/scene_000240", + "seed": 112400000, + "shared_state": "vortex_off/scene_000240/shared_state.npz", + "video": "vortex_off/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000241/left.json", + "scene_id": "vortex_off/scene_000241", + "seed": 112410000, + "shared_state": "vortex_off/scene_000241/shared_state.npz", + "video": "vortex_off/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000241/front.json", + "scene_id": "vortex_off/scene_000241", + "seed": 112410000, + "shared_state": "vortex_off/scene_000241/shared_state.npz", + "video": "vortex_off/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000241/right.json", + "scene_id": "vortex_off/scene_000241", + "seed": 112410000, + "shared_state": "vortex_off/scene_000241/shared_state.npz", + "video": "vortex_off/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000242/left.json", + "scene_id": "vortex_off/scene_000242", + "seed": 112420000, + "shared_state": "vortex_off/scene_000242/shared_state.npz", + "video": "vortex_off/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000242/front.json", + "scene_id": "vortex_off/scene_000242", + "seed": 112420000, + "shared_state": "vortex_off/scene_000242/shared_state.npz", + "video": "vortex_off/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000242/right.json", + "scene_id": "vortex_off/scene_000242", + "seed": 112420000, + "shared_state": "vortex_off/scene_000242/shared_state.npz", + "video": "vortex_off/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000243/left.json", + "scene_id": "vortex_off/scene_000243", + "seed": 112430000, + "shared_state": "vortex_off/scene_000243/shared_state.npz", + "video": "vortex_off/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000243/front.json", + "scene_id": "vortex_off/scene_000243", + "seed": 112430000, + "shared_state": "vortex_off/scene_000243/shared_state.npz", + "video": "vortex_off/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000243/right.json", + "scene_id": "vortex_off/scene_000243", + "seed": 112430000, + "shared_state": "vortex_off/scene_000243/shared_state.npz", + "video": "vortex_off/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000244/left.json", + "scene_id": "vortex_off/scene_000244", + "seed": 112440000, + "shared_state": "vortex_off/scene_000244/shared_state.npz", + "video": "vortex_off/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000244/front.json", + "scene_id": "vortex_off/scene_000244", + "seed": 112440000, + "shared_state": "vortex_off/scene_000244/shared_state.npz", + "video": "vortex_off/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000244/right.json", + "scene_id": "vortex_off/scene_000244", + "seed": 112440000, + "shared_state": "vortex_off/scene_000244/shared_state.npz", + "video": "vortex_off/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000245/left.json", + "scene_id": "vortex_off/scene_000245", + "seed": 112450000, + "shared_state": "vortex_off/scene_000245/shared_state.npz", + "video": "vortex_off/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000245/front.json", + "scene_id": "vortex_off/scene_000245", + "seed": 112450000, + "shared_state": "vortex_off/scene_000245/shared_state.npz", + "video": "vortex_off/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000245/right.json", + "scene_id": "vortex_off/scene_000245", + "seed": 112450000, + "shared_state": "vortex_off/scene_000245/shared_state.npz", + "video": "vortex_off/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000246/left.json", + "scene_id": "vortex_off/scene_000246", + "seed": 112460000, + "shared_state": "vortex_off/scene_000246/shared_state.npz", + "video": "vortex_off/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000246/front.json", + "scene_id": "vortex_off/scene_000246", + "seed": 112460000, + "shared_state": "vortex_off/scene_000246/shared_state.npz", + "video": "vortex_off/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000246/right.json", + "scene_id": "vortex_off/scene_000246", + "seed": 112460000, + "shared_state": "vortex_off/scene_000246/shared_state.npz", + "video": "vortex_off/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000247/left.json", + "scene_id": "vortex_off/scene_000247", + "seed": 112470000, + "shared_state": "vortex_off/scene_000247/shared_state.npz", + "video": "vortex_off/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000247/front.json", + "scene_id": "vortex_off/scene_000247", + "seed": 112470000, + "shared_state": "vortex_off/scene_000247/shared_state.npz", + "video": "vortex_off/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000247/right.json", + "scene_id": "vortex_off/scene_000247", + "seed": 112470000, + "shared_state": "vortex_off/scene_000247/shared_state.npz", + "video": "vortex_off/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000248/left.json", + "scene_id": "vortex_off/scene_000248", + "seed": 112480000, + "shared_state": "vortex_off/scene_000248/shared_state.npz", + "video": "vortex_off/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000248/front.json", + "scene_id": "vortex_off/scene_000248", + "seed": 112480000, + "shared_state": "vortex_off/scene_000248/shared_state.npz", + "video": "vortex_off/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000248/right.json", + "scene_id": "vortex_off/scene_000248", + "seed": 112480000, + "shared_state": "vortex_off/scene_000248/shared_state.npz", + "video": "vortex_off/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000249/left.json", + "scene_id": "vortex_off/scene_000249", + "seed": 112490000, + "shared_state": "vortex_off/scene_000249/shared_state.npz", + "video": "vortex_off/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000249/front.json", + "scene_id": "vortex_off/scene_000249", + "seed": 112490000, + "shared_state": "vortex_off/scene_000249/shared_state.npz", + "video": "vortex_off/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000249/right.json", + "scene_id": "vortex_off/scene_000249", + "seed": 112490000, + "shared_state": "vortex_off/scene_000249/shared_state.npz", + "video": "vortex_off/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000250/left.json", + "scene_id": "vortex_off/scene_000250", + "seed": 112500000, + "shared_state": "vortex_off/scene_000250/shared_state.npz", + "video": "vortex_off/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000250/front.json", + "scene_id": "vortex_off/scene_000250", + "seed": 112500000, + "shared_state": "vortex_off/scene_000250/shared_state.npz", + "video": "vortex_off/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000250/right.json", + "scene_id": "vortex_off/scene_000250", + "seed": 112500000, + "shared_state": "vortex_off/scene_000250/shared_state.npz", + "video": "vortex_off/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000251/left.json", + "scene_id": "vortex_off/scene_000251", + "seed": 112510000, + "shared_state": "vortex_off/scene_000251/shared_state.npz", + "video": "vortex_off/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000251/front.json", + "scene_id": "vortex_off/scene_000251", + "seed": 112510000, + "shared_state": "vortex_off/scene_000251/shared_state.npz", + "video": "vortex_off/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000251/right.json", + "scene_id": "vortex_off/scene_000251", + "seed": 112510000, + "shared_state": "vortex_off/scene_000251/shared_state.npz", + "video": "vortex_off/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000252/left.json", + "scene_id": "vortex_off/scene_000252", + "seed": 112520000, + "shared_state": "vortex_off/scene_000252/shared_state.npz", + "video": "vortex_off/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000252/front.json", + "scene_id": "vortex_off/scene_000252", + "seed": 112520000, + "shared_state": "vortex_off/scene_000252/shared_state.npz", + "video": "vortex_off/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000252/right.json", + "scene_id": "vortex_off/scene_000252", + "seed": 112520000, + "shared_state": "vortex_off/scene_000252/shared_state.npz", + "video": "vortex_off/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000253/left.json", + "scene_id": "vortex_off/scene_000253", + "seed": 112530000, + "shared_state": "vortex_off/scene_000253/shared_state.npz", + "video": "vortex_off/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000253/front.json", + "scene_id": "vortex_off/scene_000253", + "seed": 112530000, + "shared_state": "vortex_off/scene_000253/shared_state.npz", + "video": "vortex_off/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000253/right.json", + "scene_id": "vortex_off/scene_000253", + "seed": 112530000, + "shared_state": "vortex_off/scene_000253/shared_state.npz", + "video": "vortex_off/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000254/left.json", + "scene_id": "vortex_off/scene_000254", + "seed": 112540000, + "shared_state": "vortex_off/scene_000254/shared_state.npz", + "video": "vortex_off/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000254/front.json", + "scene_id": "vortex_off/scene_000254", + "seed": 112540000, + "shared_state": "vortex_off/scene_000254/shared_state.npz", + "video": "vortex_off/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000254/right.json", + "scene_id": "vortex_off/scene_000254", + "seed": 112540000, + "shared_state": "vortex_off/scene_000254/shared_state.npz", + "video": "vortex_off/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000255/left.json", + "scene_id": "vortex_off/scene_000255", + "seed": 112550000, + "shared_state": "vortex_off/scene_000255/shared_state.npz", + "video": "vortex_off/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000255/front.json", + "scene_id": "vortex_off/scene_000255", + "seed": 112550000, + "shared_state": "vortex_off/scene_000255/shared_state.npz", + "video": "vortex_off/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000255/right.json", + "scene_id": "vortex_off/scene_000255", + "seed": 112550000, + "shared_state": "vortex_off/scene_000255/shared_state.npz", + "video": "vortex_off/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000256/left.json", + "scene_id": "vortex_off/scene_000256", + "seed": 112560000, + "shared_state": "vortex_off/scene_000256/shared_state.npz", + "video": "vortex_off/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000256/front.json", + "scene_id": "vortex_off/scene_000256", + "seed": 112560000, + "shared_state": "vortex_off/scene_000256/shared_state.npz", + "video": "vortex_off/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000256/right.json", + "scene_id": "vortex_off/scene_000256", + "seed": 112560000, + "shared_state": "vortex_off/scene_000256/shared_state.npz", + "video": "vortex_off/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000257/left.json", + "scene_id": "vortex_off/scene_000257", + "seed": 112570000, + "shared_state": "vortex_off/scene_000257/shared_state.npz", + "video": "vortex_off/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000257/front.json", + "scene_id": "vortex_off/scene_000257", + "seed": 112570000, + "shared_state": "vortex_off/scene_000257/shared_state.npz", + "video": "vortex_off/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000257/right.json", + "scene_id": "vortex_off/scene_000257", + "seed": 112570000, + "shared_state": "vortex_off/scene_000257/shared_state.npz", + "video": "vortex_off/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000258/left.json", + "scene_id": "vortex_off/scene_000258", + "seed": 112580000, + "shared_state": "vortex_off/scene_000258/shared_state.npz", + "video": "vortex_off/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000258/front.json", + "scene_id": "vortex_off/scene_000258", + "seed": 112580000, + "shared_state": "vortex_off/scene_000258/shared_state.npz", + "video": "vortex_off/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000258/right.json", + "scene_id": "vortex_off/scene_000258", + "seed": 112580000, + "shared_state": "vortex_off/scene_000258/shared_state.npz", + "video": "vortex_off/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000259/left.json", + "scene_id": "vortex_off/scene_000259", + "seed": 112590000, + "shared_state": "vortex_off/scene_000259/shared_state.npz", + "video": "vortex_off/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000259/front.json", + "scene_id": "vortex_off/scene_000259", + "seed": 112590000, + "shared_state": "vortex_off/scene_000259/shared_state.npz", + "video": "vortex_off/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000259/right.json", + "scene_id": "vortex_off/scene_000259", + "seed": 112590000, + "shared_state": "vortex_off/scene_000259/shared_state.npz", + "video": "vortex_off/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000260/left.json", + "scene_id": "vortex_off/scene_000260", + "seed": 112600000, + "shared_state": "vortex_off/scene_000260/shared_state.npz", + "video": "vortex_off/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000260/front.json", + "scene_id": "vortex_off/scene_000260", + "seed": 112600000, + "shared_state": "vortex_off/scene_000260/shared_state.npz", + "video": "vortex_off/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000260/right.json", + "scene_id": "vortex_off/scene_000260", + "seed": 112600000, + "shared_state": "vortex_off/scene_000260/shared_state.npz", + "video": "vortex_off/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000261/left.json", + "scene_id": "vortex_off/scene_000261", + "seed": 112610000, + "shared_state": "vortex_off/scene_000261/shared_state.npz", + "video": "vortex_off/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000261/front.json", + "scene_id": "vortex_off/scene_000261", + "seed": 112610000, + "shared_state": "vortex_off/scene_000261/shared_state.npz", + "video": "vortex_off/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000261/right.json", + "scene_id": "vortex_off/scene_000261", + "seed": 112610000, + "shared_state": "vortex_off/scene_000261/shared_state.npz", + "video": "vortex_off/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000262/left.json", + "scene_id": "vortex_off/scene_000262", + "seed": 112620000, + "shared_state": "vortex_off/scene_000262/shared_state.npz", + "video": "vortex_off/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000262/front.json", + "scene_id": "vortex_off/scene_000262", + "seed": 112620000, + "shared_state": "vortex_off/scene_000262/shared_state.npz", + "video": "vortex_off/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000262/right.json", + "scene_id": "vortex_off/scene_000262", + "seed": 112620000, + "shared_state": "vortex_off/scene_000262/shared_state.npz", + "video": "vortex_off/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000263/left.json", + "scene_id": "vortex_off/scene_000263", + "seed": 112630000, + "shared_state": "vortex_off/scene_000263/shared_state.npz", + "video": "vortex_off/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000263/front.json", + "scene_id": "vortex_off/scene_000263", + "seed": 112630000, + "shared_state": "vortex_off/scene_000263/shared_state.npz", + "video": "vortex_off/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000263/right.json", + "scene_id": "vortex_off/scene_000263", + "seed": 112630000, + "shared_state": "vortex_off/scene_000263/shared_state.npz", + "video": "vortex_off/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000264/left.json", + "scene_id": "vortex_off/scene_000264", + "seed": 112640000, + "shared_state": "vortex_off/scene_000264/shared_state.npz", + "video": "vortex_off/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000264/front.json", + "scene_id": "vortex_off/scene_000264", + "seed": 112640000, + "shared_state": "vortex_off/scene_000264/shared_state.npz", + "video": "vortex_off/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000264/right.json", + "scene_id": "vortex_off/scene_000264", + "seed": 112640000, + "shared_state": "vortex_off/scene_000264/shared_state.npz", + "video": "vortex_off/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000265/left.json", + "scene_id": "vortex_off/scene_000265", + "seed": 112650000, + "shared_state": "vortex_off/scene_000265/shared_state.npz", + "video": "vortex_off/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000265/front.json", + "scene_id": "vortex_off/scene_000265", + "seed": 112650000, + "shared_state": "vortex_off/scene_000265/shared_state.npz", + "video": "vortex_off/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000265/right.json", + "scene_id": "vortex_off/scene_000265", + "seed": 112650000, + "shared_state": "vortex_off/scene_000265/shared_state.npz", + "video": "vortex_off/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000266/left.json", + "scene_id": "vortex_off/scene_000266", + "seed": 112660000, + "shared_state": "vortex_off/scene_000266/shared_state.npz", + "video": "vortex_off/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000266/front.json", + "scene_id": "vortex_off/scene_000266", + "seed": 112660000, + "shared_state": "vortex_off/scene_000266/shared_state.npz", + "video": "vortex_off/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000266/right.json", + "scene_id": "vortex_off/scene_000266", + "seed": 112660000, + "shared_state": "vortex_off/scene_000266/shared_state.npz", + "video": "vortex_off/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000267/left.json", + "scene_id": "vortex_off/scene_000267", + "seed": 112670000, + "shared_state": "vortex_off/scene_000267/shared_state.npz", + "video": "vortex_off/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000267/front.json", + "scene_id": "vortex_off/scene_000267", + "seed": 112670000, + "shared_state": "vortex_off/scene_000267/shared_state.npz", + "video": "vortex_off/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000267/right.json", + "scene_id": "vortex_off/scene_000267", + "seed": 112670000, + "shared_state": "vortex_off/scene_000267/shared_state.npz", + "video": "vortex_off/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000268/left.json", + "scene_id": "vortex_off/scene_000268", + "seed": 112680000, + "shared_state": "vortex_off/scene_000268/shared_state.npz", + "video": "vortex_off/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000268/front.json", + "scene_id": "vortex_off/scene_000268", + "seed": 112680000, + "shared_state": "vortex_off/scene_000268/shared_state.npz", + "video": "vortex_off/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000268/right.json", + "scene_id": "vortex_off/scene_000268", + "seed": 112680000, + "shared_state": "vortex_off/scene_000268/shared_state.npz", + "video": "vortex_off/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000269/left.json", + "scene_id": "vortex_off/scene_000269", + "seed": 112690000, + "shared_state": "vortex_off/scene_000269/shared_state.npz", + "video": "vortex_off/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000269/front.json", + "scene_id": "vortex_off/scene_000269", + "seed": 112690000, + "shared_state": "vortex_off/scene_000269/shared_state.npz", + "video": "vortex_off/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000269/right.json", + "scene_id": "vortex_off/scene_000269", + "seed": 112690000, + "shared_state": "vortex_off/scene_000269/shared_state.npz", + "video": "vortex_off/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000270/left.json", + "scene_id": "vortex_off/scene_000270", + "seed": 112700000, + "shared_state": "vortex_off/scene_000270/shared_state.npz", + "video": "vortex_off/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000270/front.json", + "scene_id": "vortex_off/scene_000270", + "seed": 112700000, + "shared_state": "vortex_off/scene_000270/shared_state.npz", + "video": "vortex_off/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000270/right.json", + "scene_id": "vortex_off/scene_000270", + "seed": 112700000, + "shared_state": "vortex_off/scene_000270/shared_state.npz", + "video": "vortex_off/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000271/left.json", + "scene_id": "vortex_off/scene_000271", + "seed": 112710000, + "shared_state": "vortex_off/scene_000271/shared_state.npz", + "video": "vortex_off/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000271/front.json", + "scene_id": "vortex_off/scene_000271", + "seed": 112710000, + "shared_state": "vortex_off/scene_000271/shared_state.npz", + "video": "vortex_off/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000271/right.json", + "scene_id": "vortex_off/scene_000271", + "seed": 112710000, + "shared_state": "vortex_off/scene_000271/shared_state.npz", + "video": "vortex_off/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000272/left.json", + "scene_id": "vortex_off/scene_000272", + "seed": 112720000, + "shared_state": "vortex_off/scene_000272/shared_state.npz", + "video": "vortex_off/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000272/front.json", + "scene_id": "vortex_off/scene_000272", + "seed": 112720000, + "shared_state": "vortex_off/scene_000272/shared_state.npz", + "video": "vortex_off/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000272/right.json", + "scene_id": "vortex_off/scene_000272", + "seed": 112720000, + "shared_state": "vortex_off/scene_000272/shared_state.npz", + "video": "vortex_off/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000273/left.json", + "scene_id": "vortex_off/scene_000273", + "seed": 112730000, + "shared_state": "vortex_off/scene_000273/shared_state.npz", + "video": "vortex_off/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000273/front.json", + "scene_id": "vortex_off/scene_000273", + "seed": 112730000, + "shared_state": "vortex_off/scene_000273/shared_state.npz", + "video": "vortex_off/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000273/right.json", + "scene_id": "vortex_off/scene_000273", + "seed": 112730000, + "shared_state": "vortex_off/scene_000273/shared_state.npz", + "video": "vortex_off/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000274/left.json", + "scene_id": "vortex_off/scene_000274", + "seed": 112740000, + "shared_state": "vortex_off/scene_000274/shared_state.npz", + "video": "vortex_off/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000274/front.json", + "scene_id": "vortex_off/scene_000274", + "seed": 112740000, + "shared_state": "vortex_off/scene_000274/shared_state.npz", + "video": "vortex_off/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000274/right.json", + "scene_id": "vortex_off/scene_000274", + "seed": 112740000, + "shared_state": "vortex_off/scene_000274/shared_state.npz", + "video": "vortex_off/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000275/left.json", + "scene_id": "vortex_off/scene_000275", + "seed": 112750000, + "shared_state": "vortex_off/scene_000275/shared_state.npz", + "video": "vortex_off/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000275/front.json", + "scene_id": "vortex_off/scene_000275", + "seed": 112750000, + "shared_state": "vortex_off/scene_000275/shared_state.npz", + "video": "vortex_off/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000275/right.json", + "scene_id": "vortex_off/scene_000275", + "seed": 112750000, + "shared_state": "vortex_off/scene_000275/shared_state.npz", + "video": "vortex_off/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000276/left.json", + "scene_id": "vortex_off/scene_000276", + "seed": 112760000, + "shared_state": "vortex_off/scene_000276/shared_state.npz", + "video": "vortex_off/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000276/front.json", + "scene_id": "vortex_off/scene_000276", + "seed": 112760000, + "shared_state": "vortex_off/scene_000276/shared_state.npz", + "video": "vortex_off/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000276/right.json", + "scene_id": "vortex_off/scene_000276", + "seed": 112760000, + "shared_state": "vortex_off/scene_000276/shared_state.npz", + "video": "vortex_off/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000277/left.json", + "scene_id": "vortex_off/scene_000277", + "seed": 112770000, + "shared_state": "vortex_off/scene_000277/shared_state.npz", + "video": "vortex_off/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000277/front.json", + "scene_id": "vortex_off/scene_000277", + "seed": 112770000, + "shared_state": "vortex_off/scene_000277/shared_state.npz", + "video": "vortex_off/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000277/right.json", + "scene_id": "vortex_off/scene_000277", + "seed": 112770000, + "shared_state": "vortex_off/scene_000277/shared_state.npz", + "video": "vortex_off/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000278/left.json", + "scene_id": "vortex_off/scene_000278", + "seed": 112780000, + "shared_state": "vortex_off/scene_000278/shared_state.npz", + "video": "vortex_off/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000278/front.json", + "scene_id": "vortex_off/scene_000278", + "seed": 112780000, + "shared_state": "vortex_off/scene_000278/shared_state.npz", + "video": "vortex_off/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000278/right.json", + "scene_id": "vortex_off/scene_000278", + "seed": 112780000, + "shared_state": "vortex_off/scene_000278/shared_state.npz", + "video": "vortex_off/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000279/left.json", + "scene_id": "vortex_off/scene_000279", + "seed": 112790000, + "shared_state": "vortex_off/scene_000279/shared_state.npz", + "video": "vortex_off/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000279/front.json", + "scene_id": "vortex_off/scene_000279", + "seed": 112790000, + "shared_state": "vortex_off/scene_000279/shared_state.npz", + "video": "vortex_off/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000279/right.json", + "scene_id": "vortex_off/scene_000279", + "seed": 112790000, + "shared_state": "vortex_off/scene_000279/shared_state.npz", + "video": "vortex_off/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000280/left.json", + "scene_id": "vortex_off/scene_000280", + "seed": 112800000, + "shared_state": "vortex_off/scene_000280/shared_state.npz", + "video": "vortex_off/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000280/front.json", + "scene_id": "vortex_off/scene_000280", + "seed": 112800000, + "shared_state": "vortex_off/scene_000280/shared_state.npz", + "video": "vortex_off/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000280/right.json", + "scene_id": "vortex_off/scene_000280", + "seed": 112800000, + "shared_state": "vortex_off/scene_000280/shared_state.npz", + "video": "vortex_off/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000281/left.json", + "scene_id": "vortex_off/scene_000281", + "seed": 112810000, + "shared_state": "vortex_off/scene_000281/shared_state.npz", + "video": "vortex_off/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000281/front.json", + "scene_id": "vortex_off/scene_000281", + "seed": 112810000, + "shared_state": "vortex_off/scene_000281/shared_state.npz", + "video": "vortex_off/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000281/right.json", + "scene_id": "vortex_off/scene_000281", + "seed": 112810000, + "shared_state": "vortex_off/scene_000281/shared_state.npz", + "video": "vortex_off/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000282/left.json", + "scene_id": "vortex_off/scene_000282", + "seed": 112820000, + "shared_state": "vortex_off/scene_000282/shared_state.npz", + "video": "vortex_off/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000282/front.json", + "scene_id": "vortex_off/scene_000282", + "seed": 112820000, + "shared_state": "vortex_off/scene_000282/shared_state.npz", + "video": "vortex_off/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000282/right.json", + "scene_id": "vortex_off/scene_000282", + "seed": 112820000, + "shared_state": "vortex_off/scene_000282/shared_state.npz", + "video": "vortex_off/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000283/left.json", + "scene_id": "vortex_off/scene_000283", + "seed": 112830000, + "shared_state": "vortex_off/scene_000283/shared_state.npz", + "video": "vortex_off/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000283/front.json", + "scene_id": "vortex_off/scene_000283", + "seed": 112830000, + "shared_state": "vortex_off/scene_000283/shared_state.npz", + "video": "vortex_off/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000283/right.json", + "scene_id": "vortex_off/scene_000283", + "seed": 112830000, + "shared_state": "vortex_off/scene_000283/shared_state.npz", + "video": "vortex_off/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000284/left.json", + "scene_id": "vortex_off/scene_000284", + "seed": 112840000, + "shared_state": "vortex_off/scene_000284/shared_state.npz", + "video": "vortex_off/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000284/front.json", + "scene_id": "vortex_off/scene_000284", + "seed": 112840000, + "shared_state": "vortex_off/scene_000284/shared_state.npz", + "video": "vortex_off/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000284/right.json", + "scene_id": "vortex_off/scene_000284", + "seed": 112840000, + "shared_state": "vortex_off/scene_000284/shared_state.npz", + "video": "vortex_off/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000285/left.json", + "scene_id": "vortex_off/scene_000285", + "seed": 112850000, + "shared_state": "vortex_off/scene_000285/shared_state.npz", + "video": "vortex_off/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000285/front.json", + "scene_id": "vortex_off/scene_000285", + "seed": 112850000, + "shared_state": "vortex_off/scene_000285/shared_state.npz", + "video": "vortex_off/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000285/right.json", + "scene_id": "vortex_off/scene_000285", + "seed": 112850000, + "shared_state": "vortex_off/scene_000285/shared_state.npz", + "video": "vortex_off/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000286/left.json", + "scene_id": "vortex_off/scene_000286", + "seed": 112860000, + "shared_state": "vortex_off/scene_000286/shared_state.npz", + "video": "vortex_off/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000286/front.json", + "scene_id": "vortex_off/scene_000286", + "seed": 112860000, + "shared_state": "vortex_off/scene_000286/shared_state.npz", + "video": "vortex_off/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000286/right.json", + "scene_id": "vortex_off/scene_000286", + "seed": 112860000, + "shared_state": "vortex_off/scene_000286/shared_state.npz", + "video": "vortex_off/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000287/left.json", + "scene_id": "vortex_off/scene_000287", + "seed": 112870000, + "shared_state": "vortex_off/scene_000287/shared_state.npz", + "video": "vortex_off/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000287/front.json", + "scene_id": "vortex_off/scene_000287", + "seed": 112870000, + "shared_state": "vortex_off/scene_000287/shared_state.npz", + "video": "vortex_off/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000287/right.json", + "scene_id": "vortex_off/scene_000287", + "seed": 112870000, + "shared_state": "vortex_off/scene_000287/shared_state.npz", + "video": "vortex_off/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000288/left.json", + "scene_id": "vortex_off/scene_000288", + "seed": 112880000, + "shared_state": "vortex_off/scene_000288/shared_state.npz", + "video": "vortex_off/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000288/front.json", + "scene_id": "vortex_off/scene_000288", + "seed": 112880000, + "shared_state": "vortex_off/scene_000288/shared_state.npz", + "video": "vortex_off/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000288/right.json", + "scene_id": "vortex_off/scene_000288", + "seed": 112880000, + "shared_state": "vortex_off/scene_000288/shared_state.npz", + "video": "vortex_off/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000289/left.json", + "scene_id": "vortex_off/scene_000289", + "seed": 112890000, + "shared_state": "vortex_off/scene_000289/shared_state.npz", + "video": "vortex_off/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000289/front.json", + "scene_id": "vortex_off/scene_000289", + "seed": 112890000, + "shared_state": "vortex_off/scene_000289/shared_state.npz", + "video": "vortex_off/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000289/right.json", + "scene_id": "vortex_off/scene_000289", + "seed": 112890000, + "shared_state": "vortex_off/scene_000289/shared_state.npz", + "video": "vortex_off/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000290/left.json", + "scene_id": "vortex_off/scene_000290", + "seed": 112900000, + "shared_state": "vortex_off/scene_000290/shared_state.npz", + "video": "vortex_off/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000290/front.json", + "scene_id": "vortex_off/scene_000290", + "seed": 112900000, + "shared_state": "vortex_off/scene_000290/shared_state.npz", + "video": "vortex_off/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000290/right.json", + "scene_id": "vortex_off/scene_000290", + "seed": 112900000, + "shared_state": "vortex_off/scene_000290/shared_state.npz", + "video": "vortex_off/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000291/left.json", + "scene_id": "vortex_off/scene_000291", + "seed": 112910000, + "shared_state": "vortex_off/scene_000291/shared_state.npz", + "video": "vortex_off/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000291/front.json", + "scene_id": "vortex_off/scene_000291", + "seed": 112910000, + "shared_state": "vortex_off/scene_000291/shared_state.npz", + "video": "vortex_off/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000291/right.json", + "scene_id": "vortex_off/scene_000291", + "seed": 112910000, + "shared_state": "vortex_off/scene_000291/shared_state.npz", + "video": "vortex_off/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000292/left.json", + "scene_id": "vortex_off/scene_000292", + "seed": 112920000, + "shared_state": "vortex_off/scene_000292/shared_state.npz", + "video": "vortex_off/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000292/front.json", + "scene_id": "vortex_off/scene_000292", + "seed": 112920000, + "shared_state": "vortex_off/scene_000292/shared_state.npz", + "video": "vortex_off/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000292/right.json", + "scene_id": "vortex_off/scene_000292", + "seed": 112920000, + "shared_state": "vortex_off/scene_000292/shared_state.npz", + "video": "vortex_off/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000293/left.json", + "scene_id": "vortex_off/scene_000293", + "seed": 112930000, + "shared_state": "vortex_off/scene_000293/shared_state.npz", + "video": "vortex_off/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000293/front.json", + "scene_id": "vortex_off/scene_000293", + "seed": 112930000, + "shared_state": "vortex_off/scene_000293/shared_state.npz", + "video": "vortex_off/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000293/right.json", + "scene_id": "vortex_off/scene_000293", + "seed": 112930000, + "shared_state": "vortex_off/scene_000293/shared_state.npz", + "video": "vortex_off/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000294/left.json", + "scene_id": "vortex_off/scene_000294", + "seed": 112940000, + "shared_state": "vortex_off/scene_000294/shared_state.npz", + "video": "vortex_off/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000294/front.json", + "scene_id": "vortex_off/scene_000294", + "seed": 112940000, + "shared_state": "vortex_off/scene_000294/shared_state.npz", + "video": "vortex_off/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000294/right.json", + "scene_id": "vortex_off/scene_000294", + "seed": 112940000, + "shared_state": "vortex_off/scene_000294/shared_state.npz", + "video": "vortex_off/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000295/left.json", + "scene_id": "vortex_off/scene_000295", + "seed": 112950000, + "shared_state": "vortex_off/scene_000295/shared_state.npz", + "video": "vortex_off/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000295/front.json", + "scene_id": "vortex_off/scene_000295", + "seed": 112950000, + "shared_state": "vortex_off/scene_000295/shared_state.npz", + "video": "vortex_off/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000295/right.json", + "scene_id": "vortex_off/scene_000295", + "seed": 112950000, + "shared_state": "vortex_off/scene_000295/shared_state.npz", + "video": "vortex_off/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000296/left.json", + "scene_id": "vortex_off/scene_000296", + "seed": 112960000, + "shared_state": "vortex_off/scene_000296/shared_state.npz", + "video": "vortex_off/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000296/front.json", + "scene_id": "vortex_off/scene_000296", + "seed": 112960000, + "shared_state": "vortex_off/scene_000296/shared_state.npz", + "video": "vortex_off/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000296/right.json", + "scene_id": "vortex_off/scene_000296", + "seed": 112960000, + "shared_state": "vortex_off/scene_000296/shared_state.npz", + "video": "vortex_off/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000297/left.json", + "scene_id": "vortex_off/scene_000297", + "seed": 112970000, + "shared_state": "vortex_off/scene_000297/shared_state.npz", + "video": "vortex_off/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000297/front.json", + "scene_id": "vortex_off/scene_000297", + "seed": 112970000, + "shared_state": "vortex_off/scene_000297/shared_state.npz", + "video": "vortex_off/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000297/right.json", + "scene_id": "vortex_off/scene_000297", + "seed": 112970000, + "shared_state": "vortex_off/scene_000297/shared_state.npz", + "video": "vortex_off/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000298/left.json", + "scene_id": "vortex_off/scene_000298", + "seed": 112980000, + "shared_state": "vortex_off/scene_000298/shared_state.npz", + "video": "vortex_off/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000298/front.json", + "scene_id": "vortex_off/scene_000298", + "seed": 112980000, + "shared_state": "vortex_off/scene_000298/shared_state.npz", + "video": "vortex_off/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000298/right.json", + "scene_id": "vortex_off/scene_000298", + "seed": 112980000, + "shared_state": "vortex_off/scene_000298/shared_state.npz", + "video": "vortex_off/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000299/left.json", + "scene_id": "vortex_off/scene_000299", + "seed": 112990000, + "shared_state": "vortex_off/scene_000299/shared_state.npz", + "video": "vortex_off/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000299/front.json", + "scene_id": "vortex_off/scene_000299", + "seed": 112990000, + "shared_state": "vortex_off/scene_000299/shared_state.npz", + "video": "vortex_off/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "vortex_off", + "inherited": false, + "metadata": "vortex_off/scene_000299/right.json", + "scene_id": "vortex_off/scene_000299", + "seed": 112990000, + "shared_state": "vortex_off/scene_000299/shared_state.npz", + "video": "vortex_off/scene_000299/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000000/left.json", + "scene_id": "wrong_orientation/scene_000000", + "seed": 25260909, + "shared_state": "wrong_orientation/scene_000000/shared_state.npz", + "video": "wrong_orientation/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000000/front.json", + "scene_id": "wrong_orientation/scene_000000", + "seed": 25260909, + "shared_state": "wrong_orientation/scene_000000/shared_state.npz", + "video": "wrong_orientation/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000000/right.json", + "scene_id": "wrong_orientation/scene_000000", + "seed": 25260909, + "shared_state": "wrong_orientation/scene_000000/shared_state.npz", + "video": "wrong_orientation/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000001/left.json", + "scene_id": "wrong_orientation/scene_000001", + "seed": 25270909, + "shared_state": "wrong_orientation/scene_000001/shared_state.npz", + "video": "wrong_orientation/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000001/front.json", + "scene_id": "wrong_orientation/scene_000001", + "seed": 25270909, + "shared_state": "wrong_orientation/scene_000001/shared_state.npz", + "video": "wrong_orientation/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000001/right.json", + "scene_id": "wrong_orientation/scene_000001", + "seed": 25270909, + "shared_state": "wrong_orientation/scene_000001/shared_state.npz", + "video": "wrong_orientation/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000002/left.json", + "scene_id": "wrong_orientation/scene_000002", + "seed": 25280915, + "shared_state": "wrong_orientation/scene_000002/shared_state.npz", + "video": "wrong_orientation/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000002/front.json", + "scene_id": "wrong_orientation/scene_000002", + "seed": 25280915, + "shared_state": "wrong_orientation/scene_000002/shared_state.npz", + "video": "wrong_orientation/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000002/right.json", + "scene_id": "wrong_orientation/scene_000002", + "seed": 25280915, + "shared_state": "wrong_orientation/scene_000002/shared_state.npz", + "video": "wrong_orientation/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000003/left.json", + "scene_id": "wrong_orientation/scene_000003", + "seed": 25290912, + "shared_state": "wrong_orientation/scene_000003/shared_state.npz", + "video": "wrong_orientation/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000003/front.json", + "scene_id": "wrong_orientation/scene_000003", + "seed": 25290912, + "shared_state": "wrong_orientation/scene_000003/shared_state.npz", + "video": "wrong_orientation/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000003/right.json", + "scene_id": "wrong_orientation/scene_000003", + "seed": 25290912, + "shared_state": "wrong_orientation/scene_000003/shared_state.npz", + "video": "wrong_orientation/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000004/left.json", + "scene_id": "wrong_orientation/scene_000004", + "seed": 25300909, + "shared_state": "wrong_orientation/scene_000004/shared_state.npz", + "video": "wrong_orientation/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000004/front.json", + "scene_id": "wrong_orientation/scene_000004", + "seed": 25300909, + "shared_state": "wrong_orientation/scene_000004/shared_state.npz", + "video": "wrong_orientation/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000004/right.json", + "scene_id": "wrong_orientation/scene_000004", + "seed": 25300909, + "shared_state": "wrong_orientation/scene_000004/shared_state.npz", + "video": "wrong_orientation/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000005/left.json", + "scene_id": "wrong_orientation/scene_000005", + "seed": 25310913, + "shared_state": "wrong_orientation/scene_000005/shared_state.npz", + "video": "wrong_orientation/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000005/front.json", + "scene_id": "wrong_orientation/scene_000005", + "seed": 25310913, + "shared_state": "wrong_orientation/scene_000005/shared_state.npz", + "video": "wrong_orientation/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000005/right.json", + "scene_id": "wrong_orientation/scene_000005", + "seed": 25310913, + "shared_state": "wrong_orientation/scene_000005/shared_state.npz", + "video": "wrong_orientation/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000006/left.json", + "scene_id": "wrong_orientation/scene_000006", + "seed": 25320910, + "shared_state": "wrong_orientation/scene_000006/shared_state.npz", + "video": "wrong_orientation/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000006/front.json", + "scene_id": "wrong_orientation/scene_000006", + "seed": 25320910, + "shared_state": "wrong_orientation/scene_000006/shared_state.npz", + "video": "wrong_orientation/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000006/right.json", + "scene_id": "wrong_orientation/scene_000006", + "seed": 25320910, + "shared_state": "wrong_orientation/scene_000006/shared_state.npz", + "video": "wrong_orientation/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000007/left.json", + "scene_id": "wrong_orientation/scene_000007", + "seed": 25330909, + "shared_state": "wrong_orientation/scene_000007/shared_state.npz", + "video": "wrong_orientation/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000007/front.json", + "scene_id": "wrong_orientation/scene_000007", + "seed": 25330909, + "shared_state": "wrong_orientation/scene_000007/shared_state.npz", + "video": "wrong_orientation/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000007/right.json", + "scene_id": "wrong_orientation/scene_000007", + "seed": 25330909, + "shared_state": "wrong_orientation/scene_000007/shared_state.npz", + "video": "wrong_orientation/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000008/left.json", + "scene_id": "wrong_orientation/scene_000008", + "seed": 25340910, + "shared_state": "wrong_orientation/scene_000008/shared_state.npz", + "video": "wrong_orientation/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000008/front.json", + "scene_id": "wrong_orientation/scene_000008", + "seed": 25340910, + "shared_state": "wrong_orientation/scene_000008/shared_state.npz", + "video": "wrong_orientation/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000008/right.json", + "scene_id": "wrong_orientation/scene_000008", + "seed": 25340910, + "shared_state": "wrong_orientation/scene_000008/shared_state.npz", + "video": "wrong_orientation/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000009/left.json", + "scene_id": "wrong_orientation/scene_000009", + "seed": 25350909, + "shared_state": "wrong_orientation/scene_000009/shared_state.npz", + "video": "wrong_orientation/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000009/front.json", + "scene_id": "wrong_orientation/scene_000009", + "seed": 25350909, + "shared_state": "wrong_orientation/scene_000009/shared_state.npz", + "video": "wrong_orientation/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000009/right.json", + "scene_id": "wrong_orientation/scene_000009", + "seed": 25350909, + "shared_state": "wrong_orientation/scene_000009/shared_state.npz", + "video": "wrong_orientation/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000010/left.json", + "scene_id": "wrong_orientation/scene_000010", + "seed": 25360913, + "shared_state": "wrong_orientation/scene_000010/shared_state.npz", + "video": "wrong_orientation/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000010/front.json", + "scene_id": "wrong_orientation/scene_000010", + "seed": 25360913, + "shared_state": "wrong_orientation/scene_000010/shared_state.npz", + "video": "wrong_orientation/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000010/right.json", + "scene_id": "wrong_orientation/scene_000010", + "seed": 25360913, + "shared_state": "wrong_orientation/scene_000010/shared_state.npz", + "video": "wrong_orientation/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000011/left.json", + "scene_id": "wrong_orientation/scene_000011", + "seed": 25370909, + "shared_state": "wrong_orientation/scene_000011/shared_state.npz", + "video": "wrong_orientation/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000011/front.json", + "scene_id": "wrong_orientation/scene_000011", + "seed": 25370909, + "shared_state": "wrong_orientation/scene_000011/shared_state.npz", + "video": "wrong_orientation/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000011/right.json", + "scene_id": "wrong_orientation/scene_000011", + "seed": 25370909, + "shared_state": "wrong_orientation/scene_000011/shared_state.npz", + "video": "wrong_orientation/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000012/left.json", + "scene_id": "wrong_orientation/scene_000012", + "seed": 25380909, + "shared_state": "wrong_orientation/scene_000012/shared_state.npz", + "video": "wrong_orientation/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000012/front.json", + "scene_id": "wrong_orientation/scene_000012", + "seed": 25380909, + "shared_state": "wrong_orientation/scene_000012/shared_state.npz", + "video": "wrong_orientation/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000012/right.json", + "scene_id": "wrong_orientation/scene_000012", + "seed": 25380909, + "shared_state": "wrong_orientation/scene_000012/shared_state.npz", + "video": "wrong_orientation/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000013/left.json", + "scene_id": "wrong_orientation/scene_000013", + "seed": 25390909, + "shared_state": "wrong_orientation/scene_000013/shared_state.npz", + "video": "wrong_orientation/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000013/front.json", + "scene_id": "wrong_orientation/scene_000013", + "seed": 25390909, + "shared_state": "wrong_orientation/scene_000013/shared_state.npz", + "video": "wrong_orientation/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000013/right.json", + "scene_id": "wrong_orientation/scene_000013", + "seed": 25390909, + "shared_state": "wrong_orientation/scene_000013/shared_state.npz", + "video": "wrong_orientation/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000014/left.json", + "scene_id": "wrong_orientation/scene_000014", + "seed": 25400913, + "shared_state": "wrong_orientation/scene_000014/shared_state.npz", + "video": "wrong_orientation/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000014/front.json", + "scene_id": "wrong_orientation/scene_000014", + "seed": 25400913, + "shared_state": "wrong_orientation/scene_000014/shared_state.npz", + "video": "wrong_orientation/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000014/right.json", + "scene_id": "wrong_orientation/scene_000014", + "seed": 25400913, + "shared_state": "wrong_orientation/scene_000014/shared_state.npz", + "video": "wrong_orientation/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000015/left.json", + "scene_id": "wrong_orientation/scene_000015", + "seed": 25410912, + "shared_state": "wrong_orientation/scene_000015/shared_state.npz", + "video": "wrong_orientation/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000015/front.json", + "scene_id": "wrong_orientation/scene_000015", + "seed": 25410912, + "shared_state": "wrong_orientation/scene_000015/shared_state.npz", + "video": "wrong_orientation/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000015/right.json", + "scene_id": "wrong_orientation/scene_000015", + "seed": 25410912, + "shared_state": "wrong_orientation/scene_000015/shared_state.npz", + "video": "wrong_orientation/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000016/left.json", + "scene_id": "wrong_orientation/scene_000016", + "seed": 25420912, + "shared_state": "wrong_orientation/scene_000016/shared_state.npz", + "video": "wrong_orientation/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000016/front.json", + "scene_id": "wrong_orientation/scene_000016", + "seed": 25420912, + "shared_state": "wrong_orientation/scene_000016/shared_state.npz", + "video": "wrong_orientation/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000016/right.json", + "scene_id": "wrong_orientation/scene_000016", + "seed": 25420912, + "shared_state": "wrong_orientation/scene_000016/shared_state.npz", + "video": "wrong_orientation/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000017/left.json", + "scene_id": "wrong_orientation/scene_000017", + "seed": 25430910, + "shared_state": "wrong_orientation/scene_000017/shared_state.npz", + "video": "wrong_orientation/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000017/front.json", + "scene_id": "wrong_orientation/scene_000017", + "seed": 25430910, + "shared_state": "wrong_orientation/scene_000017/shared_state.npz", + "video": "wrong_orientation/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000017/right.json", + "scene_id": "wrong_orientation/scene_000017", + "seed": 25430910, + "shared_state": "wrong_orientation/scene_000017/shared_state.npz", + "video": "wrong_orientation/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000018/left.json", + "scene_id": "wrong_orientation/scene_000018", + "seed": 25440917, + "shared_state": "wrong_orientation/scene_000018/shared_state.npz", + "video": "wrong_orientation/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000018/front.json", + "scene_id": "wrong_orientation/scene_000018", + "seed": 25440917, + "shared_state": "wrong_orientation/scene_000018/shared_state.npz", + "video": "wrong_orientation/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000018/right.json", + "scene_id": "wrong_orientation/scene_000018", + "seed": 25440917, + "shared_state": "wrong_orientation/scene_000018/shared_state.npz", + "video": "wrong_orientation/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000019/left.json", + "scene_id": "wrong_orientation/scene_000019", + "seed": 25450911, + "shared_state": "wrong_orientation/scene_000019/shared_state.npz", + "video": "wrong_orientation/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000019/front.json", + "scene_id": "wrong_orientation/scene_000019", + "seed": 25450911, + "shared_state": "wrong_orientation/scene_000019/shared_state.npz", + "video": "wrong_orientation/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000019/right.json", + "scene_id": "wrong_orientation/scene_000019", + "seed": 25450911, + "shared_state": "wrong_orientation/scene_000019/shared_state.npz", + "video": "wrong_orientation/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000020/left.json", + "scene_id": "wrong_orientation/scene_000020", + "seed": 25460910, + "shared_state": "wrong_orientation/scene_000020/shared_state.npz", + "video": "wrong_orientation/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000020/front.json", + "scene_id": "wrong_orientation/scene_000020", + "seed": 25460910, + "shared_state": "wrong_orientation/scene_000020/shared_state.npz", + "video": "wrong_orientation/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000020/right.json", + "scene_id": "wrong_orientation/scene_000020", + "seed": 25460910, + "shared_state": "wrong_orientation/scene_000020/shared_state.npz", + "video": "wrong_orientation/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000021/left.json", + "scene_id": "wrong_orientation/scene_000021", + "seed": 25470910, + "shared_state": "wrong_orientation/scene_000021/shared_state.npz", + "video": "wrong_orientation/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000021/front.json", + "scene_id": "wrong_orientation/scene_000021", + "seed": 25470910, + "shared_state": "wrong_orientation/scene_000021/shared_state.npz", + "video": "wrong_orientation/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000021/right.json", + "scene_id": "wrong_orientation/scene_000021", + "seed": 25470910, + "shared_state": "wrong_orientation/scene_000021/shared_state.npz", + "video": "wrong_orientation/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000022/left.json", + "scene_id": "wrong_orientation/scene_000022", + "seed": 25480910, + "shared_state": "wrong_orientation/scene_000022/shared_state.npz", + "video": "wrong_orientation/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000022/front.json", + "scene_id": "wrong_orientation/scene_000022", + "seed": 25480910, + "shared_state": "wrong_orientation/scene_000022/shared_state.npz", + "video": "wrong_orientation/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000022/right.json", + "scene_id": "wrong_orientation/scene_000022", + "seed": 25480910, + "shared_state": "wrong_orientation/scene_000022/shared_state.npz", + "video": "wrong_orientation/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000023/left.json", + "scene_id": "wrong_orientation/scene_000023", + "seed": 25490909, + "shared_state": "wrong_orientation/scene_000023/shared_state.npz", + "video": "wrong_orientation/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000023/front.json", + "scene_id": "wrong_orientation/scene_000023", + "seed": 25490909, + "shared_state": "wrong_orientation/scene_000023/shared_state.npz", + "video": "wrong_orientation/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000023/right.json", + "scene_id": "wrong_orientation/scene_000023", + "seed": 25490909, + "shared_state": "wrong_orientation/scene_000023/shared_state.npz", + "video": "wrong_orientation/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000024/left.json", + "scene_id": "wrong_orientation/scene_000024", + "seed": 25500913, + "shared_state": "wrong_orientation/scene_000024/shared_state.npz", + "video": "wrong_orientation/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000024/front.json", + "scene_id": "wrong_orientation/scene_000024", + "seed": 25500913, + "shared_state": "wrong_orientation/scene_000024/shared_state.npz", + "video": "wrong_orientation/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000024/right.json", + "scene_id": "wrong_orientation/scene_000024", + "seed": 25500913, + "shared_state": "wrong_orientation/scene_000024/shared_state.npz", + "video": "wrong_orientation/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000025/left.json", + "scene_id": "wrong_orientation/scene_000025", + "seed": 25510909, + "shared_state": "wrong_orientation/scene_000025/shared_state.npz", + "video": "wrong_orientation/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000025/front.json", + "scene_id": "wrong_orientation/scene_000025", + "seed": 25510909, + "shared_state": "wrong_orientation/scene_000025/shared_state.npz", + "video": "wrong_orientation/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000025/right.json", + "scene_id": "wrong_orientation/scene_000025", + "seed": 25510909, + "shared_state": "wrong_orientation/scene_000025/shared_state.npz", + "video": "wrong_orientation/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000026/left.json", + "scene_id": "wrong_orientation/scene_000026", + "seed": 25520910, + "shared_state": "wrong_orientation/scene_000026/shared_state.npz", + "video": "wrong_orientation/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000026/front.json", + "scene_id": "wrong_orientation/scene_000026", + "seed": 25520910, + "shared_state": "wrong_orientation/scene_000026/shared_state.npz", + "video": "wrong_orientation/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000026/right.json", + "scene_id": "wrong_orientation/scene_000026", + "seed": 25520910, + "shared_state": "wrong_orientation/scene_000026/shared_state.npz", + "video": "wrong_orientation/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000027/left.json", + "scene_id": "wrong_orientation/scene_000027", + "seed": 25530910, + "shared_state": "wrong_orientation/scene_000027/shared_state.npz", + "video": "wrong_orientation/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000027/front.json", + "scene_id": "wrong_orientation/scene_000027", + "seed": 25530910, + "shared_state": "wrong_orientation/scene_000027/shared_state.npz", + "video": "wrong_orientation/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000027/right.json", + "scene_id": "wrong_orientation/scene_000027", + "seed": 25530910, + "shared_state": "wrong_orientation/scene_000027/shared_state.npz", + "video": "wrong_orientation/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000028/left.json", + "scene_id": "wrong_orientation/scene_000028", + "seed": 25540913, + "shared_state": "wrong_orientation/scene_000028/shared_state.npz", + "video": "wrong_orientation/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000028/front.json", + "scene_id": "wrong_orientation/scene_000028", + "seed": 25540913, + "shared_state": "wrong_orientation/scene_000028/shared_state.npz", + "video": "wrong_orientation/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000028/right.json", + "scene_id": "wrong_orientation/scene_000028", + "seed": 25540913, + "shared_state": "wrong_orientation/scene_000028/shared_state.npz", + "video": "wrong_orientation/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000029/left.json", + "scene_id": "wrong_orientation/scene_000029", + "seed": 25550913, + "shared_state": "wrong_orientation/scene_000029/shared_state.npz", + "video": "wrong_orientation/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000029/front.json", + "scene_id": "wrong_orientation/scene_000029", + "seed": 25550913, + "shared_state": "wrong_orientation/scene_000029/shared_state.npz", + "video": "wrong_orientation/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000029/right.json", + "scene_id": "wrong_orientation/scene_000029", + "seed": 25550913, + "shared_state": "wrong_orientation/scene_000029/shared_state.npz", + "video": "wrong_orientation/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000030/left.json", + "scene_id": "wrong_orientation/scene_000030", + "seed": 25560909, + "shared_state": "wrong_orientation/scene_000030/shared_state.npz", + "video": "wrong_orientation/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000030/front.json", + "scene_id": "wrong_orientation/scene_000030", + "seed": 25560909, + "shared_state": "wrong_orientation/scene_000030/shared_state.npz", + "video": "wrong_orientation/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000030/right.json", + "scene_id": "wrong_orientation/scene_000030", + "seed": 25560909, + "shared_state": "wrong_orientation/scene_000030/shared_state.npz", + "video": "wrong_orientation/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000031/left.json", + "scene_id": "wrong_orientation/scene_000031", + "seed": 25570910, + "shared_state": "wrong_orientation/scene_000031/shared_state.npz", + "video": "wrong_orientation/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000031/front.json", + "scene_id": "wrong_orientation/scene_000031", + "seed": 25570910, + "shared_state": "wrong_orientation/scene_000031/shared_state.npz", + "video": "wrong_orientation/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000031/right.json", + "scene_id": "wrong_orientation/scene_000031", + "seed": 25570910, + "shared_state": "wrong_orientation/scene_000031/shared_state.npz", + "video": "wrong_orientation/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000032/left.json", + "scene_id": "wrong_orientation/scene_000032", + "seed": 25580909, + "shared_state": "wrong_orientation/scene_000032/shared_state.npz", + "video": "wrong_orientation/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000032/front.json", + "scene_id": "wrong_orientation/scene_000032", + "seed": 25580909, + "shared_state": "wrong_orientation/scene_000032/shared_state.npz", + "video": "wrong_orientation/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000032/right.json", + "scene_id": "wrong_orientation/scene_000032", + "seed": 25580909, + "shared_state": "wrong_orientation/scene_000032/shared_state.npz", + "video": "wrong_orientation/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000033/left.json", + "scene_id": "wrong_orientation/scene_000033", + "seed": 25590909, + "shared_state": "wrong_orientation/scene_000033/shared_state.npz", + "video": "wrong_orientation/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000033/front.json", + "scene_id": "wrong_orientation/scene_000033", + "seed": 25590909, + "shared_state": "wrong_orientation/scene_000033/shared_state.npz", + "video": "wrong_orientation/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000033/right.json", + "scene_id": "wrong_orientation/scene_000033", + "seed": 25590909, + "shared_state": "wrong_orientation/scene_000033/shared_state.npz", + "video": "wrong_orientation/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000034/left.json", + "scene_id": "wrong_orientation/scene_000034", + "seed": 25600909, + "shared_state": "wrong_orientation/scene_000034/shared_state.npz", + "video": "wrong_orientation/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000034/front.json", + "scene_id": "wrong_orientation/scene_000034", + "seed": 25600909, + "shared_state": "wrong_orientation/scene_000034/shared_state.npz", + "video": "wrong_orientation/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000034/right.json", + "scene_id": "wrong_orientation/scene_000034", + "seed": 25600909, + "shared_state": "wrong_orientation/scene_000034/shared_state.npz", + "video": "wrong_orientation/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000035/left.json", + "scene_id": "wrong_orientation/scene_000035", + "seed": 25610909, + "shared_state": "wrong_orientation/scene_000035/shared_state.npz", + "video": "wrong_orientation/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000035/front.json", + "scene_id": "wrong_orientation/scene_000035", + "seed": 25610909, + "shared_state": "wrong_orientation/scene_000035/shared_state.npz", + "video": "wrong_orientation/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000035/right.json", + "scene_id": "wrong_orientation/scene_000035", + "seed": 25610909, + "shared_state": "wrong_orientation/scene_000035/shared_state.npz", + "video": "wrong_orientation/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000036/left.json", + "scene_id": "wrong_orientation/scene_000036", + "seed": 25620915, + "shared_state": "wrong_orientation/scene_000036/shared_state.npz", + "video": "wrong_orientation/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000036/front.json", + "scene_id": "wrong_orientation/scene_000036", + "seed": 25620915, + "shared_state": "wrong_orientation/scene_000036/shared_state.npz", + "video": "wrong_orientation/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000036/right.json", + "scene_id": "wrong_orientation/scene_000036", + "seed": 25620915, + "shared_state": "wrong_orientation/scene_000036/shared_state.npz", + "video": "wrong_orientation/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000037/left.json", + "scene_id": "wrong_orientation/scene_000037", + "seed": 25630909, + "shared_state": "wrong_orientation/scene_000037/shared_state.npz", + "video": "wrong_orientation/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000037/front.json", + "scene_id": "wrong_orientation/scene_000037", + "seed": 25630909, + "shared_state": "wrong_orientation/scene_000037/shared_state.npz", + "video": "wrong_orientation/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000037/right.json", + "scene_id": "wrong_orientation/scene_000037", + "seed": 25630909, + "shared_state": "wrong_orientation/scene_000037/shared_state.npz", + "video": "wrong_orientation/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000038/left.json", + "scene_id": "wrong_orientation/scene_000038", + "seed": 25640909, + "shared_state": "wrong_orientation/scene_000038/shared_state.npz", + "video": "wrong_orientation/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000038/front.json", + "scene_id": "wrong_orientation/scene_000038", + "seed": 25640909, + "shared_state": "wrong_orientation/scene_000038/shared_state.npz", + "video": "wrong_orientation/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000038/right.json", + "scene_id": "wrong_orientation/scene_000038", + "seed": 25640909, + "shared_state": "wrong_orientation/scene_000038/shared_state.npz", + "video": "wrong_orientation/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000039/left.json", + "scene_id": "wrong_orientation/scene_000039", + "seed": 25650910, + "shared_state": "wrong_orientation/scene_000039/shared_state.npz", + "video": "wrong_orientation/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000039/front.json", + "scene_id": "wrong_orientation/scene_000039", + "seed": 25650910, + "shared_state": "wrong_orientation/scene_000039/shared_state.npz", + "video": "wrong_orientation/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000039/right.json", + "scene_id": "wrong_orientation/scene_000039", + "seed": 25650910, + "shared_state": "wrong_orientation/scene_000039/shared_state.npz", + "video": "wrong_orientation/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000040/left.json", + "scene_id": "wrong_orientation/scene_000040", + "seed": 25660910, + "shared_state": "wrong_orientation/scene_000040/shared_state.npz", + "video": "wrong_orientation/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000040/front.json", + "scene_id": "wrong_orientation/scene_000040", + "seed": 25660910, + "shared_state": "wrong_orientation/scene_000040/shared_state.npz", + "video": "wrong_orientation/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000040/right.json", + "scene_id": "wrong_orientation/scene_000040", + "seed": 25660910, + "shared_state": "wrong_orientation/scene_000040/shared_state.npz", + "video": "wrong_orientation/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000041/left.json", + "scene_id": "wrong_orientation/scene_000041", + "seed": 25670910, + "shared_state": "wrong_orientation/scene_000041/shared_state.npz", + "video": "wrong_orientation/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000041/front.json", + "scene_id": "wrong_orientation/scene_000041", + "seed": 25670910, + "shared_state": "wrong_orientation/scene_000041/shared_state.npz", + "video": "wrong_orientation/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000041/right.json", + "scene_id": "wrong_orientation/scene_000041", + "seed": 25670910, + "shared_state": "wrong_orientation/scene_000041/shared_state.npz", + "video": "wrong_orientation/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000042/left.json", + "scene_id": "wrong_orientation/scene_000042", + "seed": 25680909, + "shared_state": "wrong_orientation/scene_000042/shared_state.npz", + "video": "wrong_orientation/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000042/front.json", + "scene_id": "wrong_orientation/scene_000042", + "seed": 25680909, + "shared_state": "wrong_orientation/scene_000042/shared_state.npz", + "video": "wrong_orientation/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000042/right.json", + "scene_id": "wrong_orientation/scene_000042", + "seed": 25680909, + "shared_state": "wrong_orientation/scene_000042/shared_state.npz", + "video": "wrong_orientation/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000043/left.json", + "scene_id": "wrong_orientation/scene_000043", + "seed": 25690910, + "shared_state": "wrong_orientation/scene_000043/shared_state.npz", + "video": "wrong_orientation/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000043/front.json", + "scene_id": "wrong_orientation/scene_000043", + "seed": 25690910, + "shared_state": "wrong_orientation/scene_000043/shared_state.npz", + "video": "wrong_orientation/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000043/right.json", + "scene_id": "wrong_orientation/scene_000043", + "seed": 25690910, + "shared_state": "wrong_orientation/scene_000043/shared_state.npz", + "video": "wrong_orientation/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000044/left.json", + "scene_id": "wrong_orientation/scene_000044", + "seed": 25700909, + "shared_state": "wrong_orientation/scene_000044/shared_state.npz", + "video": "wrong_orientation/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000044/front.json", + "scene_id": "wrong_orientation/scene_000044", + "seed": 25700909, + "shared_state": "wrong_orientation/scene_000044/shared_state.npz", + "video": "wrong_orientation/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000044/right.json", + "scene_id": "wrong_orientation/scene_000044", + "seed": 25700909, + "shared_state": "wrong_orientation/scene_000044/shared_state.npz", + "video": "wrong_orientation/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000045/left.json", + "scene_id": "wrong_orientation/scene_000045", + "seed": 25710918, + "shared_state": "wrong_orientation/scene_000045/shared_state.npz", + "video": "wrong_orientation/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000045/front.json", + "scene_id": "wrong_orientation/scene_000045", + "seed": 25710918, + "shared_state": "wrong_orientation/scene_000045/shared_state.npz", + "video": "wrong_orientation/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000045/right.json", + "scene_id": "wrong_orientation/scene_000045", + "seed": 25710918, + "shared_state": "wrong_orientation/scene_000045/shared_state.npz", + "video": "wrong_orientation/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000046/left.json", + "scene_id": "wrong_orientation/scene_000046", + "seed": 25720910, + "shared_state": "wrong_orientation/scene_000046/shared_state.npz", + "video": "wrong_orientation/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000046/front.json", + "scene_id": "wrong_orientation/scene_000046", + "seed": 25720910, + "shared_state": "wrong_orientation/scene_000046/shared_state.npz", + "video": "wrong_orientation/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000046/right.json", + "scene_id": "wrong_orientation/scene_000046", + "seed": 25720910, + "shared_state": "wrong_orientation/scene_000046/shared_state.npz", + "video": "wrong_orientation/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000047/left.json", + "scene_id": "wrong_orientation/scene_000047", + "seed": 25730910, + "shared_state": "wrong_orientation/scene_000047/shared_state.npz", + "video": "wrong_orientation/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000047/front.json", + "scene_id": "wrong_orientation/scene_000047", + "seed": 25730910, + "shared_state": "wrong_orientation/scene_000047/shared_state.npz", + "video": "wrong_orientation/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000047/right.json", + "scene_id": "wrong_orientation/scene_000047", + "seed": 25730910, + "shared_state": "wrong_orientation/scene_000047/shared_state.npz", + "video": "wrong_orientation/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000048/left.json", + "scene_id": "wrong_orientation/scene_000048", + "seed": 25740910, + "shared_state": "wrong_orientation/scene_000048/shared_state.npz", + "video": "wrong_orientation/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000048/front.json", + "scene_id": "wrong_orientation/scene_000048", + "seed": 25740910, + "shared_state": "wrong_orientation/scene_000048/shared_state.npz", + "video": "wrong_orientation/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000048/right.json", + "scene_id": "wrong_orientation/scene_000048", + "seed": 25740910, + "shared_state": "wrong_orientation/scene_000048/shared_state.npz", + "video": "wrong_orientation/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000049/left.json", + "scene_id": "wrong_orientation/scene_000049", + "seed": 25750913, + "shared_state": "wrong_orientation/scene_000049/shared_state.npz", + "video": "wrong_orientation/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000049/front.json", + "scene_id": "wrong_orientation/scene_000049", + "seed": 25750913, + "shared_state": "wrong_orientation/scene_000049/shared_state.npz", + "video": "wrong_orientation/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000049/right.json", + "scene_id": "wrong_orientation/scene_000049", + "seed": 25750913, + "shared_state": "wrong_orientation/scene_000049/shared_state.npz", + "video": "wrong_orientation/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000050/left.json", + "scene_id": "wrong_orientation/scene_000050", + "seed": 25760909, + "shared_state": "wrong_orientation/scene_000050/shared_state.npz", + "video": "wrong_orientation/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000050/front.json", + "scene_id": "wrong_orientation/scene_000050", + "seed": 25760909, + "shared_state": "wrong_orientation/scene_000050/shared_state.npz", + "video": "wrong_orientation/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000050/right.json", + "scene_id": "wrong_orientation/scene_000050", + "seed": 25760909, + "shared_state": "wrong_orientation/scene_000050/shared_state.npz", + "video": "wrong_orientation/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000051/left.json", + "scene_id": "wrong_orientation/scene_000051", + "seed": 25770911, + "shared_state": "wrong_orientation/scene_000051/shared_state.npz", + "video": "wrong_orientation/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000051/front.json", + "scene_id": "wrong_orientation/scene_000051", + "seed": 25770911, + "shared_state": "wrong_orientation/scene_000051/shared_state.npz", + "video": "wrong_orientation/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000051/right.json", + "scene_id": "wrong_orientation/scene_000051", + "seed": 25770911, + "shared_state": "wrong_orientation/scene_000051/shared_state.npz", + "video": "wrong_orientation/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000052/left.json", + "scene_id": "wrong_orientation/scene_000052", + "seed": 25780909, + "shared_state": "wrong_orientation/scene_000052/shared_state.npz", + "video": "wrong_orientation/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000052/front.json", + "scene_id": "wrong_orientation/scene_000052", + "seed": 25780909, + "shared_state": "wrong_orientation/scene_000052/shared_state.npz", + "video": "wrong_orientation/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000052/right.json", + "scene_id": "wrong_orientation/scene_000052", + "seed": 25780909, + "shared_state": "wrong_orientation/scene_000052/shared_state.npz", + "video": "wrong_orientation/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000053/left.json", + "scene_id": "wrong_orientation/scene_000053", + "seed": 25790915, + "shared_state": "wrong_orientation/scene_000053/shared_state.npz", + "video": "wrong_orientation/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000053/front.json", + "scene_id": "wrong_orientation/scene_000053", + "seed": 25790915, + "shared_state": "wrong_orientation/scene_000053/shared_state.npz", + "video": "wrong_orientation/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000053/right.json", + "scene_id": "wrong_orientation/scene_000053", + "seed": 25790915, + "shared_state": "wrong_orientation/scene_000053/shared_state.npz", + "video": "wrong_orientation/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000054/left.json", + "scene_id": "wrong_orientation/scene_000054", + "seed": 25800911, + "shared_state": "wrong_orientation/scene_000054/shared_state.npz", + "video": "wrong_orientation/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000054/front.json", + "scene_id": "wrong_orientation/scene_000054", + "seed": 25800911, + "shared_state": "wrong_orientation/scene_000054/shared_state.npz", + "video": "wrong_orientation/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000054/right.json", + "scene_id": "wrong_orientation/scene_000054", + "seed": 25800911, + "shared_state": "wrong_orientation/scene_000054/shared_state.npz", + "video": "wrong_orientation/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000055/left.json", + "scene_id": "wrong_orientation/scene_000055", + "seed": 25810909, + "shared_state": "wrong_orientation/scene_000055/shared_state.npz", + "video": "wrong_orientation/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000055/front.json", + "scene_id": "wrong_orientation/scene_000055", + "seed": 25810909, + "shared_state": "wrong_orientation/scene_000055/shared_state.npz", + "video": "wrong_orientation/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000055/right.json", + "scene_id": "wrong_orientation/scene_000055", + "seed": 25810909, + "shared_state": "wrong_orientation/scene_000055/shared_state.npz", + "video": "wrong_orientation/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000056/left.json", + "scene_id": "wrong_orientation/scene_000056", + "seed": 25820913, + "shared_state": "wrong_orientation/scene_000056/shared_state.npz", + "video": "wrong_orientation/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000056/front.json", + "scene_id": "wrong_orientation/scene_000056", + "seed": 25820913, + "shared_state": "wrong_orientation/scene_000056/shared_state.npz", + "video": "wrong_orientation/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000056/right.json", + "scene_id": "wrong_orientation/scene_000056", + "seed": 25820913, + "shared_state": "wrong_orientation/scene_000056/shared_state.npz", + "video": "wrong_orientation/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000057/left.json", + "scene_id": "wrong_orientation/scene_000057", + "seed": 25830909, + "shared_state": "wrong_orientation/scene_000057/shared_state.npz", + "video": "wrong_orientation/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000057/front.json", + "scene_id": "wrong_orientation/scene_000057", + "seed": 25830909, + "shared_state": "wrong_orientation/scene_000057/shared_state.npz", + "video": "wrong_orientation/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000057/right.json", + "scene_id": "wrong_orientation/scene_000057", + "seed": 25830909, + "shared_state": "wrong_orientation/scene_000057/shared_state.npz", + "video": "wrong_orientation/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000058/left.json", + "scene_id": "wrong_orientation/scene_000058", + "seed": 25840909, + "shared_state": "wrong_orientation/scene_000058/shared_state.npz", + "video": "wrong_orientation/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000058/front.json", + "scene_id": "wrong_orientation/scene_000058", + "seed": 25840909, + "shared_state": "wrong_orientation/scene_000058/shared_state.npz", + "video": "wrong_orientation/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000058/right.json", + "scene_id": "wrong_orientation/scene_000058", + "seed": 25840909, + "shared_state": "wrong_orientation/scene_000058/shared_state.npz", + "video": "wrong_orientation/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000059/left.json", + "scene_id": "wrong_orientation/scene_000059", + "seed": 25850910, + "shared_state": "wrong_orientation/scene_000059/shared_state.npz", + "video": "wrong_orientation/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000059/front.json", + "scene_id": "wrong_orientation/scene_000059", + "seed": 25850910, + "shared_state": "wrong_orientation/scene_000059/shared_state.npz", + "video": "wrong_orientation/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000059/right.json", + "scene_id": "wrong_orientation/scene_000059", + "seed": 25850910, + "shared_state": "wrong_orientation/scene_000059/shared_state.npz", + "video": "wrong_orientation/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000060/left.json", + "scene_id": "wrong_orientation/scene_000060", + "seed": 25860910, + "shared_state": "wrong_orientation/scene_000060/shared_state.npz", + "video": "wrong_orientation/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000060/front.json", + "scene_id": "wrong_orientation/scene_000060", + "seed": 25860910, + "shared_state": "wrong_orientation/scene_000060/shared_state.npz", + "video": "wrong_orientation/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000060/right.json", + "scene_id": "wrong_orientation/scene_000060", + "seed": 25860910, + "shared_state": "wrong_orientation/scene_000060/shared_state.npz", + "video": "wrong_orientation/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000061/left.json", + "scene_id": "wrong_orientation/scene_000061", + "seed": 25870909, + "shared_state": "wrong_orientation/scene_000061/shared_state.npz", + "video": "wrong_orientation/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000061/front.json", + "scene_id": "wrong_orientation/scene_000061", + "seed": 25870909, + "shared_state": "wrong_orientation/scene_000061/shared_state.npz", + "video": "wrong_orientation/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000061/right.json", + "scene_id": "wrong_orientation/scene_000061", + "seed": 25870909, + "shared_state": "wrong_orientation/scene_000061/shared_state.npz", + "video": "wrong_orientation/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000062/left.json", + "scene_id": "wrong_orientation/scene_000062", + "seed": 25880909, + "shared_state": "wrong_orientation/scene_000062/shared_state.npz", + "video": "wrong_orientation/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000062/front.json", + "scene_id": "wrong_orientation/scene_000062", + "seed": 25880909, + "shared_state": "wrong_orientation/scene_000062/shared_state.npz", + "video": "wrong_orientation/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000062/right.json", + "scene_id": "wrong_orientation/scene_000062", + "seed": 25880909, + "shared_state": "wrong_orientation/scene_000062/shared_state.npz", + "video": "wrong_orientation/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000063/left.json", + "scene_id": "wrong_orientation/scene_000063", + "seed": 25890911, + "shared_state": "wrong_orientation/scene_000063/shared_state.npz", + "video": "wrong_orientation/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000063/front.json", + "scene_id": "wrong_orientation/scene_000063", + "seed": 25890911, + "shared_state": "wrong_orientation/scene_000063/shared_state.npz", + "video": "wrong_orientation/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000063/right.json", + "scene_id": "wrong_orientation/scene_000063", + "seed": 25890911, + "shared_state": "wrong_orientation/scene_000063/shared_state.npz", + "video": "wrong_orientation/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000064/left.json", + "scene_id": "wrong_orientation/scene_000064", + "seed": 25900911, + "shared_state": "wrong_orientation/scene_000064/shared_state.npz", + "video": "wrong_orientation/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000064/front.json", + "scene_id": "wrong_orientation/scene_000064", + "seed": 25900911, + "shared_state": "wrong_orientation/scene_000064/shared_state.npz", + "video": "wrong_orientation/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000064/right.json", + "scene_id": "wrong_orientation/scene_000064", + "seed": 25900911, + "shared_state": "wrong_orientation/scene_000064/shared_state.npz", + "video": "wrong_orientation/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000065/left.json", + "scene_id": "wrong_orientation/scene_000065", + "seed": 25910909, + "shared_state": "wrong_orientation/scene_000065/shared_state.npz", + "video": "wrong_orientation/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000065/front.json", + "scene_id": "wrong_orientation/scene_000065", + "seed": 25910909, + "shared_state": "wrong_orientation/scene_000065/shared_state.npz", + "video": "wrong_orientation/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000065/right.json", + "scene_id": "wrong_orientation/scene_000065", + "seed": 25910909, + "shared_state": "wrong_orientation/scene_000065/shared_state.npz", + "video": "wrong_orientation/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000066/left.json", + "scene_id": "wrong_orientation/scene_000066", + "seed": 25920909, + "shared_state": "wrong_orientation/scene_000066/shared_state.npz", + "video": "wrong_orientation/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000066/front.json", + "scene_id": "wrong_orientation/scene_000066", + "seed": 25920909, + "shared_state": "wrong_orientation/scene_000066/shared_state.npz", + "video": "wrong_orientation/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000066/right.json", + "scene_id": "wrong_orientation/scene_000066", + "seed": 25920909, + "shared_state": "wrong_orientation/scene_000066/shared_state.npz", + "video": "wrong_orientation/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000067/left.json", + "scene_id": "wrong_orientation/scene_000067", + "seed": 25930909, + "shared_state": "wrong_orientation/scene_000067/shared_state.npz", + "video": "wrong_orientation/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000067/front.json", + "scene_id": "wrong_orientation/scene_000067", + "seed": 25930909, + "shared_state": "wrong_orientation/scene_000067/shared_state.npz", + "video": "wrong_orientation/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000067/right.json", + "scene_id": "wrong_orientation/scene_000067", + "seed": 25930909, + "shared_state": "wrong_orientation/scene_000067/shared_state.npz", + "video": "wrong_orientation/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000068/left.json", + "scene_id": "wrong_orientation/scene_000068", + "seed": 25940910, + "shared_state": "wrong_orientation/scene_000068/shared_state.npz", + "video": "wrong_orientation/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000068/front.json", + "scene_id": "wrong_orientation/scene_000068", + "seed": 25940910, + "shared_state": "wrong_orientation/scene_000068/shared_state.npz", + "video": "wrong_orientation/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000068/right.json", + "scene_id": "wrong_orientation/scene_000068", + "seed": 25940910, + "shared_state": "wrong_orientation/scene_000068/shared_state.npz", + "video": "wrong_orientation/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000069/left.json", + "scene_id": "wrong_orientation/scene_000069", + "seed": 25950910, + "shared_state": "wrong_orientation/scene_000069/shared_state.npz", + "video": "wrong_orientation/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000069/front.json", + "scene_id": "wrong_orientation/scene_000069", + "seed": 25950910, + "shared_state": "wrong_orientation/scene_000069/shared_state.npz", + "video": "wrong_orientation/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000069/right.json", + "scene_id": "wrong_orientation/scene_000069", + "seed": 25950910, + "shared_state": "wrong_orientation/scene_000069/shared_state.npz", + "video": "wrong_orientation/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000070/left.json", + "scene_id": "wrong_orientation/scene_000070", + "seed": 25960909, + "shared_state": "wrong_orientation/scene_000070/shared_state.npz", + "video": "wrong_orientation/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000070/front.json", + "scene_id": "wrong_orientation/scene_000070", + "seed": 25960909, + "shared_state": "wrong_orientation/scene_000070/shared_state.npz", + "video": "wrong_orientation/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000070/right.json", + "scene_id": "wrong_orientation/scene_000070", + "seed": 25960909, + "shared_state": "wrong_orientation/scene_000070/shared_state.npz", + "video": "wrong_orientation/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000071/left.json", + "scene_id": "wrong_orientation/scene_000071", + "seed": 25970909, + "shared_state": "wrong_orientation/scene_000071/shared_state.npz", + "video": "wrong_orientation/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000071/front.json", + "scene_id": "wrong_orientation/scene_000071", + "seed": 25970909, + "shared_state": "wrong_orientation/scene_000071/shared_state.npz", + "video": "wrong_orientation/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000071/right.json", + "scene_id": "wrong_orientation/scene_000071", + "seed": 25970909, + "shared_state": "wrong_orientation/scene_000071/shared_state.npz", + "video": "wrong_orientation/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000072/left.json", + "scene_id": "wrong_orientation/scene_000072", + "seed": 25980909, + "shared_state": "wrong_orientation/scene_000072/shared_state.npz", + "video": "wrong_orientation/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000072/front.json", + "scene_id": "wrong_orientation/scene_000072", + "seed": 25980909, + "shared_state": "wrong_orientation/scene_000072/shared_state.npz", + "video": "wrong_orientation/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000072/right.json", + "scene_id": "wrong_orientation/scene_000072", + "seed": 25980909, + "shared_state": "wrong_orientation/scene_000072/shared_state.npz", + "video": "wrong_orientation/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000073/left.json", + "scene_id": "wrong_orientation/scene_000073", + "seed": 25990912, + "shared_state": "wrong_orientation/scene_000073/shared_state.npz", + "video": "wrong_orientation/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000073/front.json", + "scene_id": "wrong_orientation/scene_000073", + "seed": 25990912, + "shared_state": "wrong_orientation/scene_000073/shared_state.npz", + "video": "wrong_orientation/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000073/right.json", + "scene_id": "wrong_orientation/scene_000073", + "seed": 25990912, + "shared_state": "wrong_orientation/scene_000073/shared_state.npz", + "video": "wrong_orientation/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000074/left.json", + "scene_id": "wrong_orientation/scene_000074", + "seed": 26000914, + "shared_state": "wrong_orientation/scene_000074/shared_state.npz", + "video": "wrong_orientation/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000074/front.json", + "scene_id": "wrong_orientation/scene_000074", + "seed": 26000914, + "shared_state": "wrong_orientation/scene_000074/shared_state.npz", + "video": "wrong_orientation/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000074/right.json", + "scene_id": "wrong_orientation/scene_000074", + "seed": 26000914, + "shared_state": "wrong_orientation/scene_000074/shared_state.npz", + "video": "wrong_orientation/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000075/left.json", + "scene_id": "wrong_orientation/scene_000075", + "seed": 26010909, + "shared_state": "wrong_orientation/scene_000075/shared_state.npz", + "video": "wrong_orientation/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000075/front.json", + "scene_id": "wrong_orientation/scene_000075", + "seed": 26010909, + "shared_state": "wrong_orientation/scene_000075/shared_state.npz", + "video": "wrong_orientation/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000075/right.json", + "scene_id": "wrong_orientation/scene_000075", + "seed": 26010909, + "shared_state": "wrong_orientation/scene_000075/shared_state.npz", + "video": "wrong_orientation/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000076/left.json", + "scene_id": "wrong_orientation/scene_000076", + "seed": 26020912, + "shared_state": "wrong_orientation/scene_000076/shared_state.npz", + "video": "wrong_orientation/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000076/front.json", + "scene_id": "wrong_orientation/scene_000076", + "seed": 26020912, + "shared_state": "wrong_orientation/scene_000076/shared_state.npz", + "video": "wrong_orientation/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000076/right.json", + "scene_id": "wrong_orientation/scene_000076", + "seed": 26020912, + "shared_state": "wrong_orientation/scene_000076/shared_state.npz", + "video": "wrong_orientation/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000077/left.json", + "scene_id": "wrong_orientation/scene_000077", + "seed": 26030910, + "shared_state": "wrong_orientation/scene_000077/shared_state.npz", + "video": "wrong_orientation/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000077/front.json", + "scene_id": "wrong_orientation/scene_000077", + "seed": 26030910, + "shared_state": "wrong_orientation/scene_000077/shared_state.npz", + "video": "wrong_orientation/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000077/right.json", + "scene_id": "wrong_orientation/scene_000077", + "seed": 26030910, + "shared_state": "wrong_orientation/scene_000077/shared_state.npz", + "video": "wrong_orientation/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000078/left.json", + "scene_id": "wrong_orientation/scene_000078", + "seed": 26040910, + "shared_state": "wrong_orientation/scene_000078/shared_state.npz", + "video": "wrong_orientation/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000078/front.json", + "scene_id": "wrong_orientation/scene_000078", + "seed": 26040910, + "shared_state": "wrong_orientation/scene_000078/shared_state.npz", + "video": "wrong_orientation/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000078/right.json", + "scene_id": "wrong_orientation/scene_000078", + "seed": 26040910, + "shared_state": "wrong_orientation/scene_000078/shared_state.npz", + "video": "wrong_orientation/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000079/left.json", + "scene_id": "wrong_orientation/scene_000079", + "seed": 26050911, + "shared_state": "wrong_orientation/scene_000079/shared_state.npz", + "video": "wrong_orientation/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000079/front.json", + "scene_id": "wrong_orientation/scene_000079", + "seed": 26050911, + "shared_state": "wrong_orientation/scene_000079/shared_state.npz", + "video": "wrong_orientation/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000079/right.json", + "scene_id": "wrong_orientation/scene_000079", + "seed": 26050911, + "shared_state": "wrong_orientation/scene_000079/shared_state.npz", + "video": "wrong_orientation/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000080/left.json", + "scene_id": "wrong_orientation/scene_000080", + "seed": 26060909, + "shared_state": "wrong_orientation/scene_000080/shared_state.npz", + "video": "wrong_orientation/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000080/front.json", + "scene_id": "wrong_orientation/scene_000080", + "seed": 26060909, + "shared_state": "wrong_orientation/scene_000080/shared_state.npz", + "video": "wrong_orientation/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000080/right.json", + "scene_id": "wrong_orientation/scene_000080", + "seed": 26060909, + "shared_state": "wrong_orientation/scene_000080/shared_state.npz", + "video": "wrong_orientation/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000081/left.json", + "scene_id": "wrong_orientation/scene_000081", + "seed": 26070910, + "shared_state": "wrong_orientation/scene_000081/shared_state.npz", + "video": "wrong_orientation/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000081/front.json", + "scene_id": "wrong_orientation/scene_000081", + "seed": 26070910, + "shared_state": "wrong_orientation/scene_000081/shared_state.npz", + "video": "wrong_orientation/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000081/right.json", + "scene_id": "wrong_orientation/scene_000081", + "seed": 26070910, + "shared_state": "wrong_orientation/scene_000081/shared_state.npz", + "video": "wrong_orientation/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000082/left.json", + "scene_id": "wrong_orientation/scene_000082", + "seed": 26080909, + "shared_state": "wrong_orientation/scene_000082/shared_state.npz", + "video": "wrong_orientation/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000082/front.json", + "scene_id": "wrong_orientation/scene_000082", + "seed": 26080909, + "shared_state": "wrong_orientation/scene_000082/shared_state.npz", + "video": "wrong_orientation/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000082/right.json", + "scene_id": "wrong_orientation/scene_000082", + "seed": 26080909, + "shared_state": "wrong_orientation/scene_000082/shared_state.npz", + "video": "wrong_orientation/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000083/left.json", + "scene_id": "wrong_orientation/scene_000083", + "seed": 26090909, + "shared_state": "wrong_orientation/scene_000083/shared_state.npz", + "video": "wrong_orientation/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000083/front.json", + "scene_id": "wrong_orientation/scene_000083", + "seed": 26090909, + "shared_state": "wrong_orientation/scene_000083/shared_state.npz", + "video": "wrong_orientation/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000083/right.json", + "scene_id": "wrong_orientation/scene_000083", + "seed": 26090909, + "shared_state": "wrong_orientation/scene_000083/shared_state.npz", + "video": "wrong_orientation/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000084/left.json", + "scene_id": "wrong_orientation/scene_000084", + "seed": 26100910, + "shared_state": "wrong_orientation/scene_000084/shared_state.npz", + "video": "wrong_orientation/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000084/front.json", + "scene_id": "wrong_orientation/scene_000084", + "seed": 26100910, + "shared_state": "wrong_orientation/scene_000084/shared_state.npz", + "video": "wrong_orientation/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000084/right.json", + "scene_id": "wrong_orientation/scene_000084", + "seed": 26100910, + "shared_state": "wrong_orientation/scene_000084/shared_state.npz", + "video": "wrong_orientation/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000085/left.json", + "scene_id": "wrong_orientation/scene_000085", + "seed": 26110909, + "shared_state": "wrong_orientation/scene_000085/shared_state.npz", + "video": "wrong_orientation/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000085/front.json", + "scene_id": "wrong_orientation/scene_000085", + "seed": 26110909, + "shared_state": "wrong_orientation/scene_000085/shared_state.npz", + "video": "wrong_orientation/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000085/right.json", + "scene_id": "wrong_orientation/scene_000085", + "seed": 26110909, + "shared_state": "wrong_orientation/scene_000085/shared_state.npz", + "video": "wrong_orientation/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000086/left.json", + "scene_id": "wrong_orientation/scene_000086", + "seed": 26120910, + "shared_state": "wrong_orientation/scene_000086/shared_state.npz", + "video": "wrong_orientation/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000086/front.json", + "scene_id": "wrong_orientation/scene_000086", + "seed": 26120910, + "shared_state": "wrong_orientation/scene_000086/shared_state.npz", + "video": "wrong_orientation/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000086/right.json", + "scene_id": "wrong_orientation/scene_000086", + "seed": 26120910, + "shared_state": "wrong_orientation/scene_000086/shared_state.npz", + "video": "wrong_orientation/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000087/left.json", + "scene_id": "wrong_orientation/scene_000087", + "seed": 26130914, + "shared_state": "wrong_orientation/scene_000087/shared_state.npz", + "video": "wrong_orientation/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000087/front.json", + "scene_id": "wrong_orientation/scene_000087", + "seed": 26130914, + "shared_state": "wrong_orientation/scene_000087/shared_state.npz", + "video": "wrong_orientation/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000087/right.json", + "scene_id": "wrong_orientation/scene_000087", + "seed": 26130914, + "shared_state": "wrong_orientation/scene_000087/shared_state.npz", + "video": "wrong_orientation/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000088/left.json", + "scene_id": "wrong_orientation/scene_000088", + "seed": 26140910, + "shared_state": "wrong_orientation/scene_000088/shared_state.npz", + "video": "wrong_orientation/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000088/front.json", + "scene_id": "wrong_orientation/scene_000088", + "seed": 26140910, + "shared_state": "wrong_orientation/scene_000088/shared_state.npz", + "video": "wrong_orientation/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000088/right.json", + "scene_id": "wrong_orientation/scene_000088", + "seed": 26140910, + "shared_state": "wrong_orientation/scene_000088/shared_state.npz", + "video": "wrong_orientation/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000089/left.json", + "scene_id": "wrong_orientation/scene_000089", + "seed": 26150910, + "shared_state": "wrong_orientation/scene_000089/shared_state.npz", + "video": "wrong_orientation/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000089/front.json", + "scene_id": "wrong_orientation/scene_000089", + "seed": 26150910, + "shared_state": "wrong_orientation/scene_000089/shared_state.npz", + "video": "wrong_orientation/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000089/right.json", + "scene_id": "wrong_orientation/scene_000089", + "seed": 26150910, + "shared_state": "wrong_orientation/scene_000089/shared_state.npz", + "video": "wrong_orientation/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000090/left.json", + "scene_id": "wrong_orientation/scene_000090", + "seed": 26160914, + "shared_state": "wrong_orientation/scene_000090/shared_state.npz", + "video": "wrong_orientation/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000090/front.json", + "scene_id": "wrong_orientation/scene_000090", + "seed": 26160914, + "shared_state": "wrong_orientation/scene_000090/shared_state.npz", + "video": "wrong_orientation/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000090/right.json", + "scene_id": "wrong_orientation/scene_000090", + "seed": 26160914, + "shared_state": "wrong_orientation/scene_000090/shared_state.npz", + "video": "wrong_orientation/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000091/left.json", + "scene_id": "wrong_orientation/scene_000091", + "seed": 26170912, + "shared_state": "wrong_orientation/scene_000091/shared_state.npz", + "video": "wrong_orientation/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000091/front.json", + "scene_id": "wrong_orientation/scene_000091", + "seed": 26170912, + "shared_state": "wrong_orientation/scene_000091/shared_state.npz", + "video": "wrong_orientation/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000091/right.json", + "scene_id": "wrong_orientation/scene_000091", + "seed": 26170912, + "shared_state": "wrong_orientation/scene_000091/shared_state.npz", + "video": "wrong_orientation/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000092/left.json", + "scene_id": "wrong_orientation/scene_000092", + "seed": 26180909, + "shared_state": "wrong_orientation/scene_000092/shared_state.npz", + "video": "wrong_orientation/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000092/front.json", + "scene_id": "wrong_orientation/scene_000092", + "seed": 26180909, + "shared_state": "wrong_orientation/scene_000092/shared_state.npz", + "video": "wrong_orientation/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000092/right.json", + "scene_id": "wrong_orientation/scene_000092", + "seed": 26180909, + "shared_state": "wrong_orientation/scene_000092/shared_state.npz", + "video": "wrong_orientation/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000093/left.json", + "scene_id": "wrong_orientation/scene_000093", + "seed": 26190910, + "shared_state": "wrong_orientation/scene_000093/shared_state.npz", + "video": "wrong_orientation/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000093/front.json", + "scene_id": "wrong_orientation/scene_000093", + "seed": 26190910, + "shared_state": "wrong_orientation/scene_000093/shared_state.npz", + "video": "wrong_orientation/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000093/right.json", + "scene_id": "wrong_orientation/scene_000093", + "seed": 26190910, + "shared_state": "wrong_orientation/scene_000093/shared_state.npz", + "video": "wrong_orientation/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000094/left.json", + "scene_id": "wrong_orientation/scene_000094", + "seed": 26200911, + "shared_state": "wrong_orientation/scene_000094/shared_state.npz", + "video": "wrong_orientation/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000094/front.json", + "scene_id": "wrong_orientation/scene_000094", + "seed": 26200911, + "shared_state": "wrong_orientation/scene_000094/shared_state.npz", + "video": "wrong_orientation/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000094/right.json", + "scene_id": "wrong_orientation/scene_000094", + "seed": 26200911, + "shared_state": "wrong_orientation/scene_000094/shared_state.npz", + "video": "wrong_orientation/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000095/left.json", + "scene_id": "wrong_orientation/scene_000095", + "seed": 26210909, + "shared_state": "wrong_orientation/scene_000095/shared_state.npz", + "video": "wrong_orientation/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000095/front.json", + "scene_id": "wrong_orientation/scene_000095", + "seed": 26210909, + "shared_state": "wrong_orientation/scene_000095/shared_state.npz", + "video": "wrong_orientation/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000095/right.json", + "scene_id": "wrong_orientation/scene_000095", + "seed": 26210909, + "shared_state": "wrong_orientation/scene_000095/shared_state.npz", + "video": "wrong_orientation/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000096/left.json", + "scene_id": "wrong_orientation/scene_000096", + "seed": 26220912, + "shared_state": "wrong_orientation/scene_000096/shared_state.npz", + "video": "wrong_orientation/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000096/front.json", + "scene_id": "wrong_orientation/scene_000096", + "seed": 26220912, + "shared_state": "wrong_orientation/scene_000096/shared_state.npz", + "video": "wrong_orientation/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000096/right.json", + "scene_id": "wrong_orientation/scene_000096", + "seed": 26220912, + "shared_state": "wrong_orientation/scene_000096/shared_state.npz", + "video": "wrong_orientation/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000097/left.json", + "scene_id": "wrong_orientation/scene_000097", + "seed": 26230911, + "shared_state": "wrong_orientation/scene_000097/shared_state.npz", + "video": "wrong_orientation/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000097/front.json", + "scene_id": "wrong_orientation/scene_000097", + "seed": 26230911, + "shared_state": "wrong_orientation/scene_000097/shared_state.npz", + "video": "wrong_orientation/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000097/right.json", + "scene_id": "wrong_orientation/scene_000097", + "seed": 26230911, + "shared_state": "wrong_orientation/scene_000097/shared_state.npz", + "video": "wrong_orientation/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000098/left.json", + "scene_id": "wrong_orientation/scene_000098", + "seed": 26240909, + "shared_state": "wrong_orientation/scene_000098/shared_state.npz", + "video": "wrong_orientation/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000098/front.json", + "scene_id": "wrong_orientation/scene_000098", + "seed": 26240909, + "shared_state": "wrong_orientation/scene_000098/shared_state.npz", + "video": "wrong_orientation/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000098/right.json", + "scene_id": "wrong_orientation/scene_000098", + "seed": 26240909, + "shared_state": "wrong_orientation/scene_000098/shared_state.npz", + "video": "wrong_orientation/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000099/left.json", + "scene_id": "wrong_orientation/scene_000099", + "seed": 26250909, + "shared_state": "wrong_orientation/scene_000099/shared_state.npz", + "video": "wrong_orientation/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000099/front.json", + "scene_id": "wrong_orientation/scene_000099", + "seed": 26250909, + "shared_state": "wrong_orientation/scene_000099/shared_state.npz", + "video": "wrong_orientation/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": true, + "metadata": "wrong_orientation/scene_000099/right.json", + "scene_id": "wrong_orientation/scene_000099", + "seed": 26250909, + "shared_state": "wrong_orientation/scene_000099/shared_state.npz", + "video": "wrong_orientation/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000100/left.json", + "scene_id": "wrong_orientation/scene_000100", + "seed": 151000001, + "shared_state": "wrong_orientation/scene_000100/shared_state.npz", + "video": "wrong_orientation/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000100/front.json", + "scene_id": "wrong_orientation/scene_000100", + "seed": 151000001, + "shared_state": "wrong_orientation/scene_000100/shared_state.npz", + "video": "wrong_orientation/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000100/right.json", + "scene_id": "wrong_orientation/scene_000100", + "seed": 151000001, + "shared_state": "wrong_orientation/scene_000100/shared_state.npz", + "video": "wrong_orientation/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000101/left.json", + "scene_id": "wrong_orientation/scene_000101", + "seed": 151010000, + "shared_state": "wrong_orientation/scene_000101/shared_state.npz", + "video": "wrong_orientation/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000101/front.json", + "scene_id": "wrong_orientation/scene_000101", + "seed": 151010000, + "shared_state": "wrong_orientation/scene_000101/shared_state.npz", + "video": "wrong_orientation/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000101/right.json", + "scene_id": "wrong_orientation/scene_000101", + "seed": 151010000, + "shared_state": "wrong_orientation/scene_000101/shared_state.npz", + "video": "wrong_orientation/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000102/left.json", + "scene_id": "wrong_orientation/scene_000102", + "seed": 151020000, + "shared_state": "wrong_orientation/scene_000102/shared_state.npz", + "video": "wrong_orientation/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000102/front.json", + "scene_id": "wrong_orientation/scene_000102", + "seed": 151020000, + "shared_state": "wrong_orientation/scene_000102/shared_state.npz", + "video": "wrong_orientation/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000102/right.json", + "scene_id": "wrong_orientation/scene_000102", + "seed": 151020000, + "shared_state": "wrong_orientation/scene_000102/shared_state.npz", + "video": "wrong_orientation/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000103/left.json", + "scene_id": "wrong_orientation/scene_000103", + "seed": 151030000, + "shared_state": "wrong_orientation/scene_000103/shared_state.npz", + "video": "wrong_orientation/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000103/front.json", + "scene_id": "wrong_orientation/scene_000103", + "seed": 151030000, + "shared_state": "wrong_orientation/scene_000103/shared_state.npz", + "video": "wrong_orientation/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000103/right.json", + "scene_id": "wrong_orientation/scene_000103", + "seed": 151030000, + "shared_state": "wrong_orientation/scene_000103/shared_state.npz", + "video": "wrong_orientation/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000104/left.json", + "scene_id": "wrong_orientation/scene_000104", + "seed": 151040000, + "shared_state": "wrong_orientation/scene_000104/shared_state.npz", + "video": "wrong_orientation/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000104/front.json", + "scene_id": "wrong_orientation/scene_000104", + "seed": 151040000, + "shared_state": "wrong_orientation/scene_000104/shared_state.npz", + "video": "wrong_orientation/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000104/right.json", + "scene_id": "wrong_orientation/scene_000104", + "seed": 151040000, + "shared_state": "wrong_orientation/scene_000104/shared_state.npz", + "video": "wrong_orientation/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000105/left.json", + "scene_id": "wrong_orientation/scene_000105", + "seed": 151050000, + "shared_state": "wrong_orientation/scene_000105/shared_state.npz", + "video": "wrong_orientation/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000105/front.json", + "scene_id": "wrong_orientation/scene_000105", + "seed": 151050000, + "shared_state": "wrong_orientation/scene_000105/shared_state.npz", + "video": "wrong_orientation/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000105/right.json", + "scene_id": "wrong_orientation/scene_000105", + "seed": 151050000, + "shared_state": "wrong_orientation/scene_000105/shared_state.npz", + "video": "wrong_orientation/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000106/left.json", + "scene_id": "wrong_orientation/scene_000106", + "seed": 151060002, + "shared_state": "wrong_orientation/scene_000106/shared_state.npz", + "video": "wrong_orientation/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000106/front.json", + "scene_id": "wrong_orientation/scene_000106", + "seed": 151060002, + "shared_state": "wrong_orientation/scene_000106/shared_state.npz", + "video": "wrong_orientation/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000106/right.json", + "scene_id": "wrong_orientation/scene_000106", + "seed": 151060002, + "shared_state": "wrong_orientation/scene_000106/shared_state.npz", + "video": "wrong_orientation/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000107/left.json", + "scene_id": "wrong_orientation/scene_000107", + "seed": 151070000, + "shared_state": "wrong_orientation/scene_000107/shared_state.npz", + "video": "wrong_orientation/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000107/front.json", + "scene_id": "wrong_orientation/scene_000107", + "seed": 151070000, + "shared_state": "wrong_orientation/scene_000107/shared_state.npz", + "video": "wrong_orientation/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000107/right.json", + "scene_id": "wrong_orientation/scene_000107", + "seed": 151070000, + "shared_state": "wrong_orientation/scene_000107/shared_state.npz", + "video": "wrong_orientation/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000108/left.json", + "scene_id": "wrong_orientation/scene_000108", + "seed": 151080000, + "shared_state": "wrong_orientation/scene_000108/shared_state.npz", + "video": "wrong_orientation/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000108/front.json", + "scene_id": "wrong_orientation/scene_000108", + "seed": 151080000, + "shared_state": "wrong_orientation/scene_000108/shared_state.npz", + "video": "wrong_orientation/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000108/right.json", + "scene_id": "wrong_orientation/scene_000108", + "seed": 151080000, + "shared_state": "wrong_orientation/scene_000108/shared_state.npz", + "video": "wrong_orientation/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000109/left.json", + "scene_id": "wrong_orientation/scene_000109", + "seed": 151090001, + "shared_state": "wrong_orientation/scene_000109/shared_state.npz", + "video": "wrong_orientation/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000109/front.json", + "scene_id": "wrong_orientation/scene_000109", + "seed": 151090001, + "shared_state": "wrong_orientation/scene_000109/shared_state.npz", + "video": "wrong_orientation/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000109/right.json", + "scene_id": "wrong_orientation/scene_000109", + "seed": 151090001, + "shared_state": "wrong_orientation/scene_000109/shared_state.npz", + "video": "wrong_orientation/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000110/left.json", + "scene_id": "wrong_orientation/scene_000110", + "seed": 151100001, + "shared_state": "wrong_orientation/scene_000110/shared_state.npz", + "video": "wrong_orientation/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000110/front.json", + "scene_id": "wrong_orientation/scene_000110", + "seed": 151100001, + "shared_state": "wrong_orientation/scene_000110/shared_state.npz", + "video": "wrong_orientation/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000110/right.json", + "scene_id": "wrong_orientation/scene_000110", + "seed": 151100001, + "shared_state": "wrong_orientation/scene_000110/shared_state.npz", + "video": "wrong_orientation/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000111/left.json", + "scene_id": "wrong_orientation/scene_000111", + "seed": 151110007, + "shared_state": "wrong_orientation/scene_000111/shared_state.npz", + "video": "wrong_orientation/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000111/front.json", + "scene_id": "wrong_orientation/scene_000111", + "seed": 151110007, + "shared_state": "wrong_orientation/scene_000111/shared_state.npz", + "video": "wrong_orientation/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000111/right.json", + "scene_id": "wrong_orientation/scene_000111", + "seed": 151110007, + "shared_state": "wrong_orientation/scene_000111/shared_state.npz", + "video": "wrong_orientation/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000112/left.json", + "scene_id": "wrong_orientation/scene_000112", + "seed": 151120002, + "shared_state": "wrong_orientation/scene_000112/shared_state.npz", + "video": "wrong_orientation/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000112/front.json", + "scene_id": "wrong_orientation/scene_000112", + "seed": 151120002, + "shared_state": "wrong_orientation/scene_000112/shared_state.npz", + "video": "wrong_orientation/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000112/right.json", + "scene_id": "wrong_orientation/scene_000112", + "seed": 151120002, + "shared_state": "wrong_orientation/scene_000112/shared_state.npz", + "video": "wrong_orientation/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000113/left.json", + "scene_id": "wrong_orientation/scene_000113", + "seed": 151130000, + "shared_state": "wrong_orientation/scene_000113/shared_state.npz", + "video": "wrong_orientation/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000113/front.json", + "scene_id": "wrong_orientation/scene_000113", + "seed": 151130000, + "shared_state": "wrong_orientation/scene_000113/shared_state.npz", + "video": "wrong_orientation/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000113/right.json", + "scene_id": "wrong_orientation/scene_000113", + "seed": 151130000, + "shared_state": "wrong_orientation/scene_000113/shared_state.npz", + "video": "wrong_orientation/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000114/left.json", + "scene_id": "wrong_orientation/scene_000114", + "seed": 151140000, + "shared_state": "wrong_orientation/scene_000114/shared_state.npz", + "video": "wrong_orientation/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000114/front.json", + "scene_id": "wrong_orientation/scene_000114", + "seed": 151140000, + "shared_state": "wrong_orientation/scene_000114/shared_state.npz", + "video": "wrong_orientation/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000114/right.json", + "scene_id": "wrong_orientation/scene_000114", + "seed": 151140000, + "shared_state": "wrong_orientation/scene_000114/shared_state.npz", + "video": "wrong_orientation/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000115/left.json", + "scene_id": "wrong_orientation/scene_000115", + "seed": 151150003, + "shared_state": "wrong_orientation/scene_000115/shared_state.npz", + "video": "wrong_orientation/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000115/front.json", + "scene_id": "wrong_orientation/scene_000115", + "seed": 151150003, + "shared_state": "wrong_orientation/scene_000115/shared_state.npz", + "video": "wrong_orientation/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000115/right.json", + "scene_id": "wrong_orientation/scene_000115", + "seed": 151150003, + "shared_state": "wrong_orientation/scene_000115/shared_state.npz", + "video": "wrong_orientation/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000116/left.json", + "scene_id": "wrong_orientation/scene_000116", + "seed": 151160000, + "shared_state": "wrong_orientation/scene_000116/shared_state.npz", + "video": "wrong_orientation/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000116/front.json", + "scene_id": "wrong_orientation/scene_000116", + "seed": 151160000, + "shared_state": "wrong_orientation/scene_000116/shared_state.npz", + "video": "wrong_orientation/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000116/right.json", + "scene_id": "wrong_orientation/scene_000116", + "seed": 151160000, + "shared_state": "wrong_orientation/scene_000116/shared_state.npz", + "video": "wrong_orientation/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000117/left.json", + "scene_id": "wrong_orientation/scene_000117", + "seed": 151170001, + "shared_state": "wrong_orientation/scene_000117/shared_state.npz", + "video": "wrong_orientation/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000117/front.json", + "scene_id": "wrong_orientation/scene_000117", + "seed": 151170001, + "shared_state": "wrong_orientation/scene_000117/shared_state.npz", + "video": "wrong_orientation/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000117/right.json", + "scene_id": "wrong_orientation/scene_000117", + "seed": 151170001, + "shared_state": "wrong_orientation/scene_000117/shared_state.npz", + "video": "wrong_orientation/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000118/left.json", + "scene_id": "wrong_orientation/scene_000118", + "seed": 151180001, + "shared_state": "wrong_orientation/scene_000118/shared_state.npz", + "video": "wrong_orientation/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000118/front.json", + "scene_id": "wrong_orientation/scene_000118", + "seed": 151180001, + "shared_state": "wrong_orientation/scene_000118/shared_state.npz", + "video": "wrong_orientation/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000118/right.json", + "scene_id": "wrong_orientation/scene_000118", + "seed": 151180001, + "shared_state": "wrong_orientation/scene_000118/shared_state.npz", + "video": "wrong_orientation/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000119/left.json", + "scene_id": "wrong_orientation/scene_000119", + "seed": 151190001, + "shared_state": "wrong_orientation/scene_000119/shared_state.npz", + "video": "wrong_orientation/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000119/front.json", + "scene_id": "wrong_orientation/scene_000119", + "seed": 151190001, + "shared_state": "wrong_orientation/scene_000119/shared_state.npz", + "video": "wrong_orientation/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000119/right.json", + "scene_id": "wrong_orientation/scene_000119", + "seed": 151190001, + "shared_state": "wrong_orientation/scene_000119/shared_state.npz", + "video": "wrong_orientation/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000120/left.json", + "scene_id": "wrong_orientation/scene_000120", + "seed": 151200003, + "shared_state": "wrong_orientation/scene_000120/shared_state.npz", + "video": "wrong_orientation/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000120/front.json", + "scene_id": "wrong_orientation/scene_000120", + "seed": 151200003, + "shared_state": "wrong_orientation/scene_000120/shared_state.npz", + "video": "wrong_orientation/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000120/right.json", + "scene_id": "wrong_orientation/scene_000120", + "seed": 151200003, + "shared_state": "wrong_orientation/scene_000120/shared_state.npz", + "video": "wrong_orientation/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000121/left.json", + "scene_id": "wrong_orientation/scene_000121", + "seed": 151210000, + "shared_state": "wrong_orientation/scene_000121/shared_state.npz", + "video": "wrong_orientation/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000121/front.json", + "scene_id": "wrong_orientation/scene_000121", + "seed": 151210000, + "shared_state": "wrong_orientation/scene_000121/shared_state.npz", + "video": "wrong_orientation/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000121/right.json", + "scene_id": "wrong_orientation/scene_000121", + "seed": 151210000, + "shared_state": "wrong_orientation/scene_000121/shared_state.npz", + "video": "wrong_orientation/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000122/left.json", + "scene_id": "wrong_orientation/scene_000122", + "seed": 151220005, + "shared_state": "wrong_orientation/scene_000122/shared_state.npz", + "video": "wrong_orientation/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000122/front.json", + "scene_id": "wrong_orientation/scene_000122", + "seed": 151220005, + "shared_state": "wrong_orientation/scene_000122/shared_state.npz", + "video": "wrong_orientation/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000122/right.json", + "scene_id": "wrong_orientation/scene_000122", + "seed": 151220005, + "shared_state": "wrong_orientation/scene_000122/shared_state.npz", + "video": "wrong_orientation/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000123/left.json", + "scene_id": "wrong_orientation/scene_000123", + "seed": 151230002, + "shared_state": "wrong_orientation/scene_000123/shared_state.npz", + "video": "wrong_orientation/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000123/front.json", + "scene_id": "wrong_orientation/scene_000123", + "seed": 151230002, + "shared_state": "wrong_orientation/scene_000123/shared_state.npz", + "video": "wrong_orientation/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000123/right.json", + "scene_id": "wrong_orientation/scene_000123", + "seed": 151230002, + "shared_state": "wrong_orientation/scene_000123/shared_state.npz", + "video": "wrong_orientation/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000124/left.json", + "scene_id": "wrong_orientation/scene_000124", + "seed": 151240001, + "shared_state": "wrong_orientation/scene_000124/shared_state.npz", + "video": "wrong_orientation/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000124/front.json", + "scene_id": "wrong_orientation/scene_000124", + "seed": 151240001, + "shared_state": "wrong_orientation/scene_000124/shared_state.npz", + "video": "wrong_orientation/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000124/right.json", + "scene_id": "wrong_orientation/scene_000124", + "seed": 151240001, + "shared_state": "wrong_orientation/scene_000124/shared_state.npz", + "video": "wrong_orientation/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000125/left.json", + "scene_id": "wrong_orientation/scene_000125", + "seed": 151250002, + "shared_state": "wrong_orientation/scene_000125/shared_state.npz", + "video": "wrong_orientation/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000125/front.json", + "scene_id": "wrong_orientation/scene_000125", + "seed": 151250002, + "shared_state": "wrong_orientation/scene_000125/shared_state.npz", + "video": "wrong_orientation/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000125/right.json", + "scene_id": "wrong_orientation/scene_000125", + "seed": 151250002, + "shared_state": "wrong_orientation/scene_000125/shared_state.npz", + "video": "wrong_orientation/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000126/left.json", + "scene_id": "wrong_orientation/scene_000126", + "seed": 151260001, + "shared_state": "wrong_orientation/scene_000126/shared_state.npz", + "video": "wrong_orientation/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000126/front.json", + "scene_id": "wrong_orientation/scene_000126", + "seed": 151260001, + "shared_state": "wrong_orientation/scene_000126/shared_state.npz", + "video": "wrong_orientation/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000126/right.json", + "scene_id": "wrong_orientation/scene_000126", + "seed": 151260001, + "shared_state": "wrong_orientation/scene_000126/shared_state.npz", + "video": "wrong_orientation/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000127/left.json", + "scene_id": "wrong_orientation/scene_000127", + "seed": 151270000, + "shared_state": "wrong_orientation/scene_000127/shared_state.npz", + "video": "wrong_orientation/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000127/front.json", + "scene_id": "wrong_orientation/scene_000127", + "seed": 151270000, + "shared_state": "wrong_orientation/scene_000127/shared_state.npz", + "video": "wrong_orientation/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000127/right.json", + "scene_id": "wrong_orientation/scene_000127", + "seed": 151270000, + "shared_state": "wrong_orientation/scene_000127/shared_state.npz", + "video": "wrong_orientation/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000128/left.json", + "scene_id": "wrong_orientation/scene_000128", + "seed": 151280000, + "shared_state": "wrong_orientation/scene_000128/shared_state.npz", + "video": "wrong_orientation/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000128/front.json", + "scene_id": "wrong_orientation/scene_000128", + "seed": 151280000, + "shared_state": "wrong_orientation/scene_000128/shared_state.npz", + "video": "wrong_orientation/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000128/right.json", + "scene_id": "wrong_orientation/scene_000128", + "seed": 151280000, + "shared_state": "wrong_orientation/scene_000128/shared_state.npz", + "video": "wrong_orientation/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000129/left.json", + "scene_id": "wrong_orientation/scene_000129", + "seed": 151290001, + "shared_state": "wrong_orientation/scene_000129/shared_state.npz", + "video": "wrong_orientation/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000129/front.json", + "scene_id": "wrong_orientation/scene_000129", + "seed": 151290001, + "shared_state": "wrong_orientation/scene_000129/shared_state.npz", + "video": "wrong_orientation/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000129/right.json", + "scene_id": "wrong_orientation/scene_000129", + "seed": 151290001, + "shared_state": "wrong_orientation/scene_000129/shared_state.npz", + "video": "wrong_orientation/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000130/left.json", + "scene_id": "wrong_orientation/scene_000130", + "seed": 151300004, + "shared_state": "wrong_orientation/scene_000130/shared_state.npz", + "video": "wrong_orientation/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000130/front.json", + "scene_id": "wrong_orientation/scene_000130", + "seed": 151300004, + "shared_state": "wrong_orientation/scene_000130/shared_state.npz", + "video": "wrong_orientation/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000130/right.json", + "scene_id": "wrong_orientation/scene_000130", + "seed": 151300004, + "shared_state": "wrong_orientation/scene_000130/shared_state.npz", + "video": "wrong_orientation/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000131/left.json", + "scene_id": "wrong_orientation/scene_000131", + "seed": 151310004, + "shared_state": "wrong_orientation/scene_000131/shared_state.npz", + "video": "wrong_orientation/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000131/front.json", + "scene_id": "wrong_orientation/scene_000131", + "seed": 151310004, + "shared_state": "wrong_orientation/scene_000131/shared_state.npz", + "video": "wrong_orientation/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000131/right.json", + "scene_id": "wrong_orientation/scene_000131", + "seed": 151310004, + "shared_state": "wrong_orientation/scene_000131/shared_state.npz", + "video": "wrong_orientation/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000132/left.json", + "scene_id": "wrong_orientation/scene_000132", + "seed": 151320001, + "shared_state": "wrong_orientation/scene_000132/shared_state.npz", + "video": "wrong_orientation/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000132/front.json", + "scene_id": "wrong_orientation/scene_000132", + "seed": 151320001, + "shared_state": "wrong_orientation/scene_000132/shared_state.npz", + "video": "wrong_orientation/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000132/right.json", + "scene_id": "wrong_orientation/scene_000132", + "seed": 151320001, + "shared_state": "wrong_orientation/scene_000132/shared_state.npz", + "video": "wrong_orientation/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000133/left.json", + "scene_id": "wrong_orientation/scene_000133", + "seed": 151330001, + "shared_state": "wrong_orientation/scene_000133/shared_state.npz", + "video": "wrong_orientation/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000133/front.json", + "scene_id": "wrong_orientation/scene_000133", + "seed": 151330001, + "shared_state": "wrong_orientation/scene_000133/shared_state.npz", + "video": "wrong_orientation/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000133/right.json", + "scene_id": "wrong_orientation/scene_000133", + "seed": 151330001, + "shared_state": "wrong_orientation/scene_000133/shared_state.npz", + "video": "wrong_orientation/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000134/left.json", + "scene_id": "wrong_orientation/scene_000134", + "seed": 151340000, + "shared_state": "wrong_orientation/scene_000134/shared_state.npz", + "video": "wrong_orientation/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000134/front.json", + "scene_id": "wrong_orientation/scene_000134", + "seed": 151340000, + "shared_state": "wrong_orientation/scene_000134/shared_state.npz", + "video": "wrong_orientation/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000134/right.json", + "scene_id": "wrong_orientation/scene_000134", + "seed": 151340000, + "shared_state": "wrong_orientation/scene_000134/shared_state.npz", + "video": "wrong_orientation/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000135/left.json", + "scene_id": "wrong_orientation/scene_000135", + "seed": 151350001, + "shared_state": "wrong_orientation/scene_000135/shared_state.npz", + "video": "wrong_orientation/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000135/front.json", + "scene_id": "wrong_orientation/scene_000135", + "seed": 151350001, + "shared_state": "wrong_orientation/scene_000135/shared_state.npz", + "video": "wrong_orientation/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000135/right.json", + "scene_id": "wrong_orientation/scene_000135", + "seed": 151350001, + "shared_state": "wrong_orientation/scene_000135/shared_state.npz", + "video": "wrong_orientation/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000136/left.json", + "scene_id": "wrong_orientation/scene_000136", + "seed": 151360001, + "shared_state": "wrong_orientation/scene_000136/shared_state.npz", + "video": "wrong_orientation/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000136/front.json", + "scene_id": "wrong_orientation/scene_000136", + "seed": 151360001, + "shared_state": "wrong_orientation/scene_000136/shared_state.npz", + "video": "wrong_orientation/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000136/right.json", + "scene_id": "wrong_orientation/scene_000136", + "seed": 151360001, + "shared_state": "wrong_orientation/scene_000136/shared_state.npz", + "video": "wrong_orientation/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000137/left.json", + "scene_id": "wrong_orientation/scene_000137", + "seed": 151370002, + "shared_state": "wrong_orientation/scene_000137/shared_state.npz", + "video": "wrong_orientation/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000137/front.json", + "scene_id": "wrong_orientation/scene_000137", + "seed": 151370002, + "shared_state": "wrong_orientation/scene_000137/shared_state.npz", + "video": "wrong_orientation/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000137/right.json", + "scene_id": "wrong_orientation/scene_000137", + "seed": 151370002, + "shared_state": "wrong_orientation/scene_000137/shared_state.npz", + "video": "wrong_orientation/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000138/left.json", + "scene_id": "wrong_orientation/scene_000138", + "seed": 151380000, + "shared_state": "wrong_orientation/scene_000138/shared_state.npz", + "video": "wrong_orientation/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000138/front.json", + "scene_id": "wrong_orientation/scene_000138", + "seed": 151380000, + "shared_state": "wrong_orientation/scene_000138/shared_state.npz", + "video": "wrong_orientation/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000138/right.json", + "scene_id": "wrong_orientation/scene_000138", + "seed": 151380000, + "shared_state": "wrong_orientation/scene_000138/shared_state.npz", + "video": "wrong_orientation/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000139/left.json", + "scene_id": "wrong_orientation/scene_000139", + "seed": 151390000, + "shared_state": "wrong_orientation/scene_000139/shared_state.npz", + "video": "wrong_orientation/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000139/front.json", + "scene_id": "wrong_orientation/scene_000139", + "seed": 151390000, + "shared_state": "wrong_orientation/scene_000139/shared_state.npz", + "video": "wrong_orientation/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000139/right.json", + "scene_id": "wrong_orientation/scene_000139", + "seed": 151390000, + "shared_state": "wrong_orientation/scene_000139/shared_state.npz", + "video": "wrong_orientation/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000140/left.json", + "scene_id": "wrong_orientation/scene_000140", + "seed": 151400000, + "shared_state": "wrong_orientation/scene_000140/shared_state.npz", + "video": "wrong_orientation/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000140/front.json", + "scene_id": "wrong_orientation/scene_000140", + "seed": 151400000, + "shared_state": "wrong_orientation/scene_000140/shared_state.npz", + "video": "wrong_orientation/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000140/right.json", + "scene_id": "wrong_orientation/scene_000140", + "seed": 151400000, + "shared_state": "wrong_orientation/scene_000140/shared_state.npz", + "video": "wrong_orientation/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000141/left.json", + "scene_id": "wrong_orientation/scene_000141", + "seed": 151410000, + "shared_state": "wrong_orientation/scene_000141/shared_state.npz", + "video": "wrong_orientation/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000141/front.json", + "scene_id": "wrong_orientation/scene_000141", + "seed": 151410000, + "shared_state": "wrong_orientation/scene_000141/shared_state.npz", + "video": "wrong_orientation/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000141/right.json", + "scene_id": "wrong_orientation/scene_000141", + "seed": 151410000, + "shared_state": "wrong_orientation/scene_000141/shared_state.npz", + "video": "wrong_orientation/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000142/left.json", + "scene_id": "wrong_orientation/scene_000142", + "seed": 151420002, + "shared_state": "wrong_orientation/scene_000142/shared_state.npz", + "video": "wrong_orientation/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000142/front.json", + "scene_id": "wrong_orientation/scene_000142", + "seed": 151420002, + "shared_state": "wrong_orientation/scene_000142/shared_state.npz", + "video": "wrong_orientation/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000142/right.json", + "scene_id": "wrong_orientation/scene_000142", + "seed": 151420002, + "shared_state": "wrong_orientation/scene_000142/shared_state.npz", + "video": "wrong_orientation/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000143/left.json", + "scene_id": "wrong_orientation/scene_000143", + "seed": 151430000, + "shared_state": "wrong_orientation/scene_000143/shared_state.npz", + "video": "wrong_orientation/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000143/front.json", + "scene_id": "wrong_orientation/scene_000143", + "seed": 151430000, + "shared_state": "wrong_orientation/scene_000143/shared_state.npz", + "video": "wrong_orientation/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000143/right.json", + "scene_id": "wrong_orientation/scene_000143", + "seed": 151430000, + "shared_state": "wrong_orientation/scene_000143/shared_state.npz", + "video": "wrong_orientation/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000144/left.json", + "scene_id": "wrong_orientation/scene_000144", + "seed": 151440003, + "shared_state": "wrong_orientation/scene_000144/shared_state.npz", + "video": "wrong_orientation/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000144/front.json", + "scene_id": "wrong_orientation/scene_000144", + "seed": 151440003, + "shared_state": "wrong_orientation/scene_000144/shared_state.npz", + "video": "wrong_orientation/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000144/right.json", + "scene_id": "wrong_orientation/scene_000144", + "seed": 151440003, + "shared_state": "wrong_orientation/scene_000144/shared_state.npz", + "video": "wrong_orientation/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000145/left.json", + "scene_id": "wrong_orientation/scene_000145", + "seed": 151450000, + "shared_state": "wrong_orientation/scene_000145/shared_state.npz", + "video": "wrong_orientation/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000145/front.json", + "scene_id": "wrong_orientation/scene_000145", + "seed": 151450000, + "shared_state": "wrong_orientation/scene_000145/shared_state.npz", + "video": "wrong_orientation/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000145/right.json", + "scene_id": "wrong_orientation/scene_000145", + "seed": 151450000, + "shared_state": "wrong_orientation/scene_000145/shared_state.npz", + "video": "wrong_orientation/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000146/left.json", + "scene_id": "wrong_orientation/scene_000146", + "seed": 151460002, + "shared_state": "wrong_orientation/scene_000146/shared_state.npz", + "video": "wrong_orientation/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000146/front.json", + "scene_id": "wrong_orientation/scene_000146", + "seed": 151460002, + "shared_state": "wrong_orientation/scene_000146/shared_state.npz", + "video": "wrong_orientation/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000146/right.json", + "scene_id": "wrong_orientation/scene_000146", + "seed": 151460002, + "shared_state": "wrong_orientation/scene_000146/shared_state.npz", + "video": "wrong_orientation/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000147/left.json", + "scene_id": "wrong_orientation/scene_000147", + "seed": 151470000, + "shared_state": "wrong_orientation/scene_000147/shared_state.npz", + "video": "wrong_orientation/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000147/front.json", + "scene_id": "wrong_orientation/scene_000147", + "seed": 151470000, + "shared_state": "wrong_orientation/scene_000147/shared_state.npz", + "video": "wrong_orientation/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000147/right.json", + "scene_id": "wrong_orientation/scene_000147", + "seed": 151470000, + "shared_state": "wrong_orientation/scene_000147/shared_state.npz", + "video": "wrong_orientation/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000148/left.json", + "scene_id": "wrong_orientation/scene_000148", + "seed": 151480000, + "shared_state": "wrong_orientation/scene_000148/shared_state.npz", + "video": "wrong_orientation/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000148/front.json", + "scene_id": "wrong_orientation/scene_000148", + "seed": 151480000, + "shared_state": "wrong_orientation/scene_000148/shared_state.npz", + "video": "wrong_orientation/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000148/right.json", + "scene_id": "wrong_orientation/scene_000148", + "seed": 151480000, + "shared_state": "wrong_orientation/scene_000148/shared_state.npz", + "video": "wrong_orientation/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000149/left.json", + "scene_id": "wrong_orientation/scene_000149", + "seed": 151490000, + "shared_state": "wrong_orientation/scene_000149/shared_state.npz", + "video": "wrong_orientation/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000149/front.json", + "scene_id": "wrong_orientation/scene_000149", + "seed": 151490000, + "shared_state": "wrong_orientation/scene_000149/shared_state.npz", + "video": "wrong_orientation/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000149/right.json", + "scene_id": "wrong_orientation/scene_000149", + "seed": 151490000, + "shared_state": "wrong_orientation/scene_000149/shared_state.npz", + "video": "wrong_orientation/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000150/left.json", + "scene_id": "wrong_orientation/scene_000150", + "seed": 151500000, + "shared_state": "wrong_orientation/scene_000150/shared_state.npz", + "video": "wrong_orientation/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000150/front.json", + "scene_id": "wrong_orientation/scene_000150", + "seed": 151500000, + "shared_state": "wrong_orientation/scene_000150/shared_state.npz", + "video": "wrong_orientation/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000150/right.json", + "scene_id": "wrong_orientation/scene_000150", + "seed": 151500000, + "shared_state": "wrong_orientation/scene_000150/shared_state.npz", + "video": "wrong_orientation/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000151/left.json", + "scene_id": "wrong_orientation/scene_000151", + "seed": 151510001, + "shared_state": "wrong_orientation/scene_000151/shared_state.npz", + "video": "wrong_orientation/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000151/front.json", + "scene_id": "wrong_orientation/scene_000151", + "seed": 151510001, + "shared_state": "wrong_orientation/scene_000151/shared_state.npz", + "video": "wrong_orientation/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000151/right.json", + "scene_id": "wrong_orientation/scene_000151", + "seed": 151510001, + "shared_state": "wrong_orientation/scene_000151/shared_state.npz", + "video": "wrong_orientation/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000152/left.json", + "scene_id": "wrong_orientation/scene_000152", + "seed": 151520000, + "shared_state": "wrong_orientation/scene_000152/shared_state.npz", + "video": "wrong_orientation/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000152/front.json", + "scene_id": "wrong_orientation/scene_000152", + "seed": 151520000, + "shared_state": "wrong_orientation/scene_000152/shared_state.npz", + "video": "wrong_orientation/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000152/right.json", + "scene_id": "wrong_orientation/scene_000152", + "seed": 151520000, + "shared_state": "wrong_orientation/scene_000152/shared_state.npz", + "video": "wrong_orientation/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000153/left.json", + "scene_id": "wrong_orientation/scene_000153", + "seed": 151530001, + "shared_state": "wrong_orientation/scene_000153/shared_state.npz", + "video": "wrong_orientation/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000153/front.json", + "scene_id": "wrong_orientation/scene_000153", + "seed": 151530001, + "shared_state": "wrong_orientation/scene_000153/shared_state.npz", + "video": "wrong_orientation/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000153/right.json", + "scene_id": "wrong_orientation/scene_000153", + "seed": 151530001, + "shared_state": "wrong_orientation/scene_000153/shared_state.npz", + "video": "wrong_orientation/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000154/left.json", + "scene_id": "wrong_orientation/scene_000154", + "seed": 151540002, + "shared_state": "wrong_orientation/scene_000154/shared_state.npz", + "video": "wrong_orientation/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000154/front.json", + "scene_id": "wrong_orientation/scene_000154", + "seed": 151540002, + "shared_state": "wrong_orientation/scene_000154/shared_state.npz", + "video": "wrong_orientation/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000154/right.json", + "scene_id": "wrong_orientation/scene_000154", + "seed": 151540002, + "shared_state": "wrong_orientation/scene_000154/shared_state.npz", + "video": "wrong_orientation/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000155/left.json", + "scene_id": "wrong_orientation/scene_000155", + "seed": 151550004, + "shared_state": "wrong_orientation/scene_000155/shared_state.npz", + "video": "wrong_orientation/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000155/front.json", + "scene_id": "wrong_orientation/scene_000155", + "seed": 151550004, + "shared_state": "wrong_orientation/scene_000155/shared_state.npz", + "video": "wrong_orientation/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000155/right.json", + "scene_id": "wrong_orientation/scene_000155", + "seed": 151550004, + "shared_state": "wrong_orientation/scene_000155/shared_state.npz", + "video": "wrong_orientation/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000156/left.json", + "scene_id": "wrong_orientation/scene_000156", + "seed": 151560000, + "shared_state": "wrong_orientation/scene_000156/shared_state.npz", + "video": "wrong_orientation/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000156/front.json", + "scene_id": "wrong_orientation/scene_000156", + "seed": 151560000, + "shared_state": "wrong_orientation/scene_000156/shared_state.npz", + "video": "wrong_orientation/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000156/right.json", + "scene_id": "wrong_orientation/scene_000156", + "seed": 151560000, + "shared_state": "wrong_orientation/scene_000156/shared_state.npz", + "video": "wrong_orientation/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000157/left.json", + "scene_id": "wrong_orientation/scene_000157", + "seed": 151570000, + "shared_state": "wrong_orientation/scene_000157/shared_state.npz", + "video": "wrong_orientation/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000157/front.json", + "scene_id": "wrong_orientation/scene_000157", + "seed": 151570000, + "shared_state": "wrong_orientation/scene_000157/shared_state.npz", + "video": "wrong_orientation/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000157/right.json", + "scene_id": "wrong_orientation/scene_000157", + "seed": 151570000, + "shared_state": "wrong_orientation/scene_000157/shared_state.npz", + "video": "wrong_orientation/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000158/left.json", + "scene_id": "wrong_orientation/scene_000158", + "seed": 151580000, + "shared_state": "wrong_orientation/scene_000158/shared_state.npz", + "video": "wrong_orientation/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000158/front.json", + "scene_id": "wrong_orientation/scene_000158", + "seed": 151580000, + "shared_state": "wrong_orientation/scene_000158/shared_state.npz", + "video": "wrong_orientation/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000158/right.json", + "scene_id": "wrong_orientation/scene_000158", + "seed": 151580000, + "shared_state": "wrong_orientation/scene_000158/shared_state.npz", + "video": "wrong_orientation/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000159/left.json", + "scene_id": "wrong_orientation/scene_000159", + "seed": 151590004, + "shared_state": "wrong_orientation/scene_000159/shared_state.npz", + "video": "wrong_orientation/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000159/front.json", + "scene_id": "wrong_orientation/scene_000159", + "seed": 151590004, + "shared_state": "wrong_orientation/scene_000159/shared_state.npz", + "video": "wrong_orientation/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000159/right.json", + "scene_id": "wrong_orientation/scene_000159", + "seed": 151590004, + "shared_state": "wrong_orientation/scene_000159/shared_state.npz", + "video": "wrong_orientation/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000160/left.json", + "scene_id": "wrong_orientation/scene_000160", + "seed": 151600000, + "shared_state": "wrong_orientation/scene_000160/shared_state.npz", + "video": "wrong_orientation/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000160/front.json", + "scene_id": "wrong_orientation/scene_000160", + "seed": 151600000, + "shared_state": "wrong_orientation/scene_000160/shared_state.npz", + "video": "wrong_orientation/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000160/right.json", + "scene_id": "wrong_orientation/scene_000160", + "seed": 151600000, + "shared_state": "wrong_orientation/scene_000160/shared_state.npz", + "video": "wrong_orientation/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000161/left.json", + "scene_id": "wrong_orientation/scene_000161", + "seed": 151610001, + "shared_state": "wrong_orientation/scene_000161/shared_state.npz", + "video": "wrong_orientation/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000161/front.json", + "scene_id": "wrong_orientation/scene_000161", + "seed": 151610001, + "shared_state": "wrong_orientation/scene_000161/shared_state.npz", + "video": "wrong_orientation/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000161/right.json", + "scene_id": "wrong_orientation/scene_000161", + "seed": 151610001, + "shared_state": "wrong_orientation/scene_000161/shared_state.npz", + "video": "wrong_orientation/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000162/left.json", + "scene_id": "wrong_orientation/scene_000162", + "seed": 151620000, + "shared_state": "wrong_orientation/scene_000162/shared_state.npz", + "video": "wrong_orientation/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000162/front.json", + "scene_id": "wrong_orientation/scene_000162", + "seed": 151620000, + "shared_state": "wrong_orientation/scene_000162/shared_state.npz", + "video": "wrong_orientation/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000162/right.json", + "scene_id": "wrong_orientation/scene_000162", + "seed": 151620000, + "shared_state": "wrong_orientation/scene_000162/shared_state.npz", + "video": "wrong_orientation/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000163/left.json", + "scene_id": "wrong_orientation/scene_000163", + "seed": 151630000, + "shared_state": "wrong_orientation/scene_000163/shared_state.npz", + "video": "wrong_orientation/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000163/front.json", + "scene_id": "wrong_orientation/scene_000163", + "seed": 151630000, + "shared_state": "wrong_orientation/scene_000163/shared_state.npz", + "video": "wrong_orientation/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000163/right.json", + "scene_id": "wrong_orientation/scene_000163", + "seed": 151630000, + "shared_state": "wrong_orientation/scene_000163/shared_state.npz", + "video": "wrong_orientation/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000164/left.json", + "scene_id": "wrong_orientation/scene_000164", + "seed": 151640002, + "shared_state": "wrong_orientation/scene_000164/shared_state.npz", + "video": "wrong_orientation/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000164/front.json", + "scene_id": "wrong_orientation/scene_000164", + "seed": 151640002, + "shared_state": "wrong_orientation/scene_000164/shared_state.npz", + "video": "wrong_orientation/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000164/right.json", + "scene_id": "wrong_orientation/scene_000164", + "seed": 151640002, + "shared_state": "wrong_orientation/scene_000164/shared_state.npz", + "video": "wrong_orientation/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000165/left.json", + "scene_id": "wrong_orientation/scene_000165", + "seed": 151650000, + "shared_state": "wrong_orientation/scene_000165/shared_state.npz", + "video": "wrong_orientation/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000165/front.json", + "scene_id": "wrong_orientation/scene_000165", + "seed": 151650000, + "shared_state": "wrong_orientation/scene_000165/shared_state.npz", + "video": "wrong_orientation/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000165/right.json", + "scene_id": "wrong_orientation/scene_000165", + "seed": 151650000, + "shared_state": "wrong_orientation/scene_000165/shared_state.npz", + "video": "wrong_orientation/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000166/left.json", + "scene_id": "wrong_orientation/scene_000166", + "seed": 151660000, + "shared_state": "wrong_orientation/scene_000166/shared_state.npz", + "video": "wrong_orientation/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000166/front.json", + "scene_id": "wrong_orientation/scene_000166", + "seed": 151660000, + "shared_state": "wrong_orientation/scene_000166/shared_state.npz", + "video": "wrong_orientation/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000166/right.json", + "scene_id": "wrong_orientation/scene_000166", + "seed": 151660000, + "shared_state": "wrong_orientation/scene_000166/shared_state.npz", + "video": "wrong_orientation/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000167/left.json", + "scene_id": "wrong_orientation/scene_000167", + "seed": 151670000, + "shared_state": "wrong_orientation/scene_000167/shared_state.npz", + "video": "wrong_orientation/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000167/front.json", + "scene_id": "wrong_orientation/scene_000167", + "seed": 151670000, + "shared_state": "wrong_orientation/scene_000167/shared_state.npz", + "video": "wrong_orientation/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000167/right.json", + "scene_id": "wrong_orientation/scene_000167", + "seed": 151670000, + "shared_state": "wrong_orientation/scene_000167/shared_state.npz", + "video": "wrong_orientation/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000168/left.json", + "scene_id": "wrong_orientation/scene_000168", + "seed": 151680001, + "shared_state": "wrong_orientation/scene_000168/shared_state.npz", + "video": "wrong_orientation/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000168/front.json", + "scene_id": "wrong_orientation/scene_000168", + "seed": 151680001, + "shared_state": "wrong_orientation/scene_000168/shared_state.npz", + "video": "wrong_orientation/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000168/right.json", + "scene_id": "wrong_orientation/scene_000168", + "seed": 151680001, + "shared_state": "wrong_orientation/scene_000168/shared_state.npz", + "video": "wrong_orientation/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000169/left.json", + "scene_id": "wrong_orientation/scene_000169", + "seed": 151690000, + "shared_state": "wrong_orientation/scene_000169/shared_state.npz", + "video": "wrong_orientation/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000169/front.json", + "scene_id": "wrong_orientation/scene_000169", + "seed": 151690000, + "shared_state": "wrong_orientation/scene_000169/shared_state.npz", + "video": "wrong_orientation/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000169/right.json", + "scene_id": "wrong_orientation/scene_000169", + "seed": 151690000, + "shared_state": "wrong_orientation/scene_000169/shared_state.npz", + "video": "wrong_orientation/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000170/left.json", + "scene_id": "wrong_orientation/scene_000170", + "seed": 151700002, + "shared_state": "wrong_orientation/scene_000170/shared_state.npz", + "video": "wrong_orientation/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000170/front.json", + "scene_id": "wrong_orientation/scene_000170", + "seed": 151700002, + "shared_state": "wrong_orientation/scene_000170/shared_state.npz", + "video": "wrong_orientation/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000170/right.json", + "scene_id": "wrong_orientation/scene_000170", + "seed": 151700002, + "shared_state": "wrong_orientation/scene_000170/shared_state.npz", + "video": "wrong_orientation/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000171/left.json", + "scene_id": "wrong_orientation/scene_000171", + "seed": 151710001, + "shared_state": "wrong_orientation/scene_000171/shared_state.npz", + "video": "wrong_orientation/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000171/front.json", + "scene_id": "wrong_orientation/scene_000171", + "seed": 151710001, + "shared_state": "wrong_orientation/scene_000171/shared_state.npz", + "video": "wrong_orientation/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000171/right.json", + "scene_id": "wrong_orientation/scene_000171", + "seed": 151710001, + "shared_state": "wrong_orientation/scene_000171/shared_state.npz", + "video": "wrong_orientation/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000172/left.json", + "scene_id": "wrong_orientation/scene_000172", + "seed": 151720003, + "shared_state": "wrong_orientation/scene_000172/shared_state.npz", + "video": "wrong_orientation/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000172/front.json", + "scene_id": "wrong_orientation/scene_000172", + "seed": 151720003, + "shared_state": "wrong_orientation/scene_000172/shared_state.npz", + "video": "wrong_orientation/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000172/right.json", + "scene_id": "wrong_orientation/scene_000172", + "seed": 151720003, + "shared_state": "wrong_orientation/scene_000172/shared_state.npz", + "video": "wrong_orientation/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000173/left.json", + "scene_id": "wrong_orientation/scene_000173", + "seed": 151730004, + "shared_state": "wrong_orientation/scene_000173/shared_state.npz", + "video": "wrong_orientation/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000173/front.json", + "scene_id": "wrong_orientation/scene_000173", + "seed": 151730004, + "shared_state": "wrong_orientation/scene_000173/shared_state.npz", + "video": "wrong_orientation/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000173/right.json", + "scene_id": "wrong_orientation/scene_000173", + "seed": 151730004, + "shared_state": "wrong_orientation/scene_000173/shared_state.npz", + "video": "wrong_orientation/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000174/left.json", + "scene_id": "wrong_orientation/scene_000174", + "seed": 151740003, + "shared_state": "wrong_orientation/scene_000174/shared_state.npz", + "video": "wrong_orientation/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000174/front.json", + "scene_id": "wrong_orientation/scene_000174", + "seed": 151740003, + "shared_state": "wrong_orientation/scene_000174/shared_state.npz", + "video": "wrong_orientation/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000174/right.json", + "scene_id": "wrong_orientation/scene_000174", + "seed": 151740003, + "shared_state": "wrong_orientation/scene_000174/shared_state.npz", + "video": "wrong_orientation/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000175/left.json", + "scene_id": "wrong_orientation/scene_000175", + "seed": 151750001, + "shared_state": "wrong_orientation/scene_000175/shared_state.npz", + "video": "wrong_orientation/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000175/front.json", + "scene_id": "wrong_orientation/scene_000175", + "seed": 151750001, + "shared_state": "wrong_orientation/scene_000175/shared_state.npz", + "video": "wrong_orientation/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000175/right.json", + "scene_id": "wrong_orientation/scene_000175", + "seed": 151750001, + "shared_state": "wrong_orientation/scene_000175/shared_state.npz", + "video": "wrong_orientation/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000176/left.json", + "scene_id": "wrong_orientation/scene_000176", + "seed": 151760000, + "shared_state": "wrong_orientation/scene_000176/shared_state.npz", + "video": "wrong_orientation/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000176/front.json", + "scene_id": "wrong_orientation/scene_000176", + "seed": 151760000, + "shared_state": "wrong_orientation/scene_000176/shared_state.npz", + "video": "wrong_orientation/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000176/right.json", + "scene_id": "wrong_orientation/scene_000176", + "seed": 151760000, + "shared_state": "wrong_orientation/scene_000176/shared_state.npz", + "video": "wrong_orientation/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000177/left.json", + "scene_id": "wrong_orientation/scene_000177", + "seed": 151770000, + "shared_state": "wrong_orientation/scene_000177/shared_state.npz", + "video": "wrong_orientation/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000177/front.json", + "scene_id": "wrong_orientation/scene_000177", + "seed": 151770000, + "shared_state": "wrong_orientation/scene_000177/shared_state.npz", + "video": "wrong_orientation/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000177/right.json", + "scene_id": "wrong_orientation/scene_000177", + "seed": 151770000, + "shared_state": "wrong_orientation/scene_000177/shared_state.npz", + "video": "wrong_orientation/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000178/left.json", + "scene_id": "wrong_orientation/scene_000178", + "seed": 151780000, + "shared_state": "wrong_orientation/scene_000178/shared_state.npz", + "video": "wrong_orientation/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000178/front.json", + "scene_id": "wrong_orientation/scene_000178", + "seed": 151780000, + "shared_state": "wrong_orientation/scene_000178/shared_state.npz", + "video": "wrong_orientation/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000178/right.json", + "scene_id": "wrong_orientation/scene_000178", + "seed": 151780000, + "shared_state": "wrong_orientation/scene_000178/shared_state.npz", + "video": "wrong_orientation/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000179/left.json", + "scene_id": "wrong_orientation/scene_000179", + "seed": 151790000, + "shared_state": "wrong_orientation/scene_000179/shared_state.npz", + "video": "wrong_orientation/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000179/front.json", + "scene_id": "wrong_orientation/scene_000179", + "seed": 151790000, + "shared_state": "wrong_orientation/scene_000179/shared_state.npz", + "video": "wrong_orientation/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000179/right.json", + "scene_id": "wrong_orientation/scene_000179", + "seed": 151790000, + "shared_state": "wrong_orientation/scene_000179/shared_state.npz", + "video": "wrong_orientation/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000180/left.json", + "scene_id": "wrong_orientation/scene_000180", + "seed": 151800000, + "shared_state": "wrong_orientation/scene_000180/shared_state.npz", + "video": "wrong_orientation/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000180/front.json", + "scene_id": "wrong_orientation/scene_000180", + "seed": 151800000, + "shared_state": "wrong_orientation/scene_000180/shared_state.npz", + "video": "wrong_orientation/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000180/right.json", + "scene_id": "wrong_orientation/scene_000180", + "seed": 151800000, + "shared_state": "wrong_orientation/scene_000180/shared_state.npz", + "video": "wrong_orientation/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000181/left.json", + "scene_id": "wrong_orientation/scene_000181", + "seed": 151810002, + "shared_state": "wrong_orientation/scene_000181/shared_state.npz", + "video": "wrong_orientation/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000181/front.json", + "scene_id": "wrong_orientation/scene_000181", + "seed": 151810002, + "shared_state": "wrong_orientation/scene_000181/shared_state.npz", + "video": "wrong_orientation/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000181/right.json", + "scene_id": "wrong_orientation/scene_000181", + "seed": 151810002, + "shared_state": "wrong_orientation/scene_000181/shared_state.npz", + "video": "wrong_orientation/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000182/left.json", + "scene_id": "wrong_orientation/scene_000182", + "seed": 151820001, + "shared_state": "wrong_orientation/scene_000182/shared_state.npz", + "video": "wrong_orientation/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000182/front.json", + "scene_id": "wrong_orientation/scene_000182", + "seed": 151820001, + "shared_state": "wrong_orientation/scene_000182/shared_state.npz", + "video": "wrong_orientation/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000182/right.json", + "scene_id": "wrong_orientation/scene_000182", + "seed": 151820001, + "shared_state": "wrong_orientation/scene_000182/shared_state.npz", + "video": "wrong_orientation/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000183/left.json", + "scene_id": "wrong_orientation/scene_000183", + "seed": 151830003, + "shared_state": "wrong_orientation/scene_000183/shared_state.npz", + "video": "wrong_orientation/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000183/front.json", + "scene_id": "wrong_orientation/scene_000183", + "seed": 151830003, + "shared_state": "wrong_orientation/scene_000183/shared_state.npz", + "video": "wrong_orientation/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000183/right.json", + "scene_id": "wrong_orientation/scene_000183", + "seed": 151830003, + "shared_state": "wrong_orientation/scene_000183/shared_state.npz", + "video": "wrong_orientation/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000184/left.json", + "scene_id": "wrong_orientation/scene_000184", + "seed": 151840001, + "shared_state": "wrong_orientation/scene_000184/shared_state.npz", + "video": "wrong_orientation/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000184/front.json", + "scene_id": "wrong_orientation/scene_000184", + "seed": 151840001, + "shared_state": "wrong_orientation/scene_000184/shared_state.npz", + "video": "wrong_orientation/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000184/right.json", + "scene_id": "wrong_orientation/scene_000184", + "seed": 151840001, + "shared_state": "wrong_orientation/scene_000184/shared_state.npz", + "video": "wrong_orientation/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000185/left.json", + "scene_id": "wrong_orientation/scene_000185", + "seed": 151850000, + "shared_state": "wrong_orientation/scene_000185/shared_state.npz", + "video": "wrong_orientation/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000185/front.json", + "scene_id": "wrong_orientation/scene_000185", + "seed": 151850000, + "shared_state": "wrong_orientation/scene_000185/shared_state.npz", + "video": "wrong_orientation/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000185/right.json", + "scene_id": "wrong_orientation/scene_000185", + "seed": 151850000, + "shared_state": "wrong_orientation/scene_000185/shared_state.npz", + "video": "wrong_orientation/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000186/left.json", + "scene_id": "wrong_orientation/scene_000186", + "seed": 151860000, + "shared_state": "wrong_orientation/scene_000186/shared_state.npz", + "video": "wrong_orientation/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000186/front.json", + "scene_id": "wrong_orientation/scene_000186", + "seed": 151860000, + "shared_state": "wrong_orientation/scene_000186/shared_state.npz", + "video": "wrong_orientation/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000186/right.json", + "scene_id": "wrong_orientation/scene_000186", + "seed": 151860000, + "shared_state": "wrong_orientation/scene_000186/shared_state.npz", + "video": "wrong_orientation/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000187/left.json", + "scene_id": "wrong_orientation/scene_000187", + "seed": 151870000, + "shared_state": "wrong_orientation/scene_000187/shared_state.npz", + "video": "wrong_orientation/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000187/front.json", + "scene_id": "wrong_orientation/scene_000187", + "seed": 151870000, + "shared_state": "wrong_orientation/scene_000187/shared_state.npz", + "video": "wrong_orientation/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000187/right.json", + "scene_id": "wrong_orientation/scene_000187", + "seed": 151870000, + "shared_state": "wrong_orientation/scene_000187/shared_state.npz", + "video": "wrong_orientation/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000188/left.json", + "scene_id": "wrong_orientation/scene_000188", + "seed": 151880006, + "shared_state": "wrong_orientation/scene_000188/shared_state.npz", + "video": "wrong_orientation/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000188/front.json", + "scene_id": "wrong_orientation/scene_000188", + "seed": 151880006, + "shared_state": "wrong_orientation/scene_000188/shared_state.npz", + "video": "wrong_orientation/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000188/right.json", + "scene_id": "wrong_orientation/scene_000188", + "seed": 151880006, + "shared_state": "wrong_orientation/scene_000188/shared_state.npz", + "video": "wrong_orientation/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000189/left.json", + "scene_id": "wrong_orientation/scene_000189", + "seed": 151890002, + "shared_state": "wrong_orientation/scene_000189/shared_state.npz", + "video": "wrong_orientation/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000189/front.json", + "scene_id": "wrong_orientation/scene_000189", + "seed": 151890002, + "shared_state": "wrong_orientation/scene_000189/shared_state.npz", + "video": "wrong_orientation/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000189/right.json", + "scene_id": "wrong_orientation/scene_000189", + "seed": 151890002, + "shared_state": "wrong_orientation/scene_000189/shared_state.npz", + "video": "wrong_orientation/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000190/left.json", + "scene_id": "wrong_orientation/scene_000190", + "seed": 151900000, + "shared_state": "wrong_orientation/scene_000190/shared_state.npz", + "video": "wrong_orientation/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000190/front.json", + "scene_id": "wrong_orientation/scene_000190", + "seed": 151900000, + "shared_state": "wrong_orientation/scene_000190/shared_state.npz", + "video": "wrong_orientation/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000190/right.json", + "scene_id": "wrong_orientation/scene_000190", + "seed": 151900000, + "shared_state": "wrong_orientation/scene_000190/shared_state.npz", + "video": "wrong_orientation/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000191/left.json", + "scene_id": "wrong_orientation/scene_000191", + "seed": 151910000, + "shared_state": "wrong_orientation/scene_000191/shared_state.npz", + "video": "wrong_orientation/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000191/front.json", + "scene_id": "wrong_orientation/scene_000191", + "seed": 151910000, + "shared_state": "wrong_orientation/scene_000191/shared_state.npz", + "video": "wrong_orientation/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000191/right.json", + "scene_id": "wrong_orientation/scene_000191", + "seed": 151910000, + "shared_state": "wrong_orientation/scene_000191/shared_state.npz", + "video": "wrong_orientation/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000192/left.json", + "scene_id": "wrong_orientation/scene_000192", + "seed": 151920001, + "shared_state": "wrong_orientation/scene_000192/shared_state.npz", + "video": "wrong_orientation/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000192/front.json", + "scene_id": "wrong_orientation/scene_000192", + "seed": 151920001, + "shared_state": "wrong_orientation/scene_000192/shared_state.npz", + "video": "wrong_orientation/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000192/right.json", + "scene_id": "wrong_orientation/scene_000192", + "seed": 151920001, + "shared_state": "wrong_orientation/scene_000192/shared_state.npz", + "video": "wrong_orientation/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000193/left.json", + "scene_id": "wrong_orientation/scene_000193", + "seed": 151930000, + "shared_state": "wrong_orientation/scene_000193/shared_state.npz", + "video": "wrong_orientation/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000193/front.json", + "scene_id": "wrong_orientation/scene_000193", + "seed": 151930000, + "shared_state": "wrong_orientation/scene_000193/shared_state.npz", + "video": "wrong_orientation/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000193/right.json", + "scene_id": "wrong_orientation/scene_000193", + "seed": 151930000, + "shared_state": "wrong_orientation/scene_000193/shared_state.npz", + "video": "wrong_orientation/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000194/left.json", + "scene_id": "wrong_orientation/scene_000194", + "seed": 151940001, + "shared_state": "wrong_orientation/scene_000194/shared_state.npz", + "video": "wrong_orientation/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000194/front.json", + "scene_id": "wrong_orientation/scene_000194", + "seed": 151940001, + "shared_state": "wrong_orientation/scene_000194/shared_state.npz", + "video": "wrong_orientation/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000194/right.json", + "scene_id": "wrong_orientation/scene_000194", + "seed": 151940001, + "shared_state": "wrong_orientation/scene_000194/shared_state.npz", + "video": "wrong_orientation/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000195/left.json", + "scene_id": "wrong_orientation/scene_000195", + "seed": 151950004, + "shared_state": "wrong_orientation/scene_000195/shared_state.npz", + "video": "wrong_orientation/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000195/front.json", + "scene_id": "wrong_orientation/scene_000195", + "seed": 151950004, + "shared_state": "wrong_orientation/scene_000195/shared_state.npz", + "video": "wrong_orientation/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000195/right.json", + "scene_id": "wrong_orientation/scene_000195", + "seed": 151950004, + "shared_state": "wrong_orientation/scene_000195/shared_state.npz", + "video": "wrong_orientation/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000196/left.json", + "scene_id": "wrong_orientation/scene_000196", + "seed": 151960006, + "shared_state": "wrong_orientation/scene_000196/shared_state.npz", + "video": "wrong_orientation/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000196/front.json", + "scene_id": "wrong_orientation/scene_000196", + "seed": 151960006, + "shared_state": "wrong_orientation/scene_000196/shared_state.npz", + "video": "wrong_orientation/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000196/right.json", + "scene_id": "wrong_orientation/scene_000196", + "seed": 151960006, + "shared_state": "wrong_orientation/scene_000196/shared_state.npz", + "video": "wrong_orientation/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000197/left.json", + "scene_id": "wrong_orientation/scene_000197", + "seed": 151970001, + "shared_state": "wrong_orientation/scene_000197/shared_state.npz", + "video": "wrong_orientation/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000197/front.json", + "scene_id": "wrong_orientation/scene_000197", + "seed": 151970001, + "shared_state": "wrong_orientation/scene_000197/shared_state.npz", + "video": "wrong_orientation/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000197/right.json", + "scene_id": "wrong_orientation/scene_000197", + "seed": 151970001, + "shared_state": "wrong_orientation/scene_000197/shared_state.npz", + "video": "wrong_orientation/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000198/left.json", + "scene_id": "wrong_orientation/scene_000198", + "seed": 151980000, + "shared_state": "wrong_orientation/scene_000198/shared_state.npz", + "video": "wrong_orientation/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000198/front.json", + "scene_id": "wrong_orientation/scene_000198", + "seed": 151980000, + "shared_state": "wrong_orientation/scene_000198/shared_state.npz", + "video": "wrong_orientation/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000198/right.json", + "scene_id": "wrong_orientation/scene_000198", + "seed": 151980000, + "shared_state": "wrong_orientation/scene_000198/shared_state.npz", + "video": "wrong_orientation/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000199/left.json", + "scene_id": "wrong_orientation/scene_000199", + "seed": 151990000, + "shared_state": "wrong_orientation/scene_000199/shared_state.npz", + "video": "wrong_orientation/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000199/front.json", + "scene_id": "wrong_orientation/scene_000199", + "seed": 151990000, + "shared_state": "wrong_orientation/scene_000199/shared_state.npz", + "video": "wrong_orientation/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000199/right.json", + "scene_id": "wrong_orientation/scene_000199", + "seed": 151990000, + "shared_state": "wrong_orientation/scene_000199/shared_state.npz", + "video": "wrong_orientation/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000200/left.json", + "scene_id": "wrong_orientation/scene_000200", + "seed": 152000004, + "shared_state": "wrong_orientation/scene_000200/shared_state.npz", + "video": "wrong_orientation/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000200/front.json", + "scene_id": "wrong_orientation/scene_000200", + "seed": 152000004, + "shared_state": "wrong_orientation/scene_000200/shared_state.npz", + "video": "wrong_orientation/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000200/right.json", + "scene_id": "wrong_orientation/scene_000200", + "seed": 152000004, + "shared_state": "wrong_orientation/scene_000200/shared_state.npz", + "video": "wrong_orientation/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000201/left.json", + "scene_id": "wrong_orientation/scene_000201", + "seed": 152010003, + "shared_state": "wrong_orientation/scene_000201/shared_state.npz", + "video": "wrong_orientation/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000201/front.json", + "scene_id": "wrong_orientation/scene_000201", + "seed": 152010003, + "shared_state": "wrong_orientation/scene_000201/shared_state.npz", + "video": "wrong_orientation/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000201/right.json", + "scene_id": "wrong_orientation/scene_000201", + "seed": 152010003, + "shared_state": "wrong_orientation/scene_000201/shared_state.npz", + "video": "wrong_orientation/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000202/left.json", + "scene_id": "wrong_orientation/scene_000202", + "seed": 152020001, + "shared_state": "wrong_orientation/scene_000202/shared_state.npz", + "video": "wrong_orientation/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000202/front.json", + "scene_id": "wrong_orientation/scene_000202", + "seed": 152020001, + "shared_state": "wrong_orientation/scene_000202/shared_state.npz", + "video": "wrong_orientation/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000202/right.json", + "scene_id": "wrong_orientation/scene_000202", + "seed": 152020001, + "shared_state": "wrong_orientation/scene_000202/shared_state.npz", + "video": "wrong_orientation/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000203/left.json", + "scene_id": "wrong_orientation/scene_000203", + "seed": 152030001, + "shared_state": "wrong_orientation/scene_000203/shared_state.npz", + "video": "wrong_orientation/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000203/front.json", + "scene_id": "wrong_orientation/scene_000203", + "seed": 152030001, + "shared_state": "wrong_orientation/scene_000203/shared_state.npz", + "video": "wrong_orientation/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000203/right.json", + "scene_id": "wrong_orientation/scene_000203", + "seed": 152030001, + "shared_state": "wrong_orientation/scene_000203/shared_state.npz", + "video": "wrong_orientation/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000204/left.json", + "scene_id": "wrong_orientation/scene_000204", + "seed": 152040003, + "shared_state": "wrong_orientation/scene_000204/shared_state.npz", + "video": "wrong_orientation/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000204/front.json", + "scene_id": "wrong_orientation/scene_000204", + "seed": 152040003, + "shared_state": "wrong_orientation/scene_000204/shared_state.npz", + "video": "wrong_orientation/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000204/right.json", + "scene_id": "wrong_orientation/scene_000204", + "seed": 152040003, + "shared_state": "wrong_orientation/scene_000204/shared_state.npz", + "video": "wrong_orientation/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000205/left.json", + "scene_id": "wrong_orientation/scene_000205", + "seed": 152050000, + "shared_state": "wrong_orientation/scene_000205/shared_state.npz", + "video": "wrong_orientation/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000205/front.json", + "scene_id": "wrong_orientation/scene_000205", + "seed": 152050000, + "shared_state": "wrong_orientation/scene_000205/shared_state.npz", + "video": "wrong_orientation/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000205/right.json", + "scene_id": "wrong_orientation/scene_000205", + "seed": 152050000, + "shared_state": "wrong_orientation/scene_000205/shared_state.npz", + "video": "wrong_orientation/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000206/left.json", + "scene_id": "wrong_orientation/scene_000206", + "seed": 152060002, + "shared_state": "wrong_orientation/scene_000206/shared_state.npz", + "video": "wrong_orientation/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000206/front.json", + "scene_id": "wrong_orientation/scene_000206", + "seed": 152060002, + "shared_state": "wrong_orientation/scene_000206/shared_state.npz", + "video": "wrong_orientation/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000206/right.json", + "scene_id": "wrong_orientation/scene_000206", + "seed": 152060002, + "shared_state": "wrong_orientation/scene_000206/shared_state.npz", + "video": "wrong_orientation/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000207/left.json", + "scene_id": "wrong_orientation/scene_000207", + "seed": 152070002, + "shared_state": "wrong_orientation/scene_000207/shared_state.npz", + "video": "wrong_orientation/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000207/front.json", + "scene_id": "wrong_orientation/scene_000207", + "seed": 152070002, + "shared_state": "wrong_orientation/scene_000207/shared_state.npz", + "video": "wrong_orientation/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000207/right.json", + "scene_id": "wrong_orientation/scene_000207", + "seed": 152070002, + "shared_state": "wrong_orientation/scene_000207/shared_state.npz", + "video": "wrong_orientation/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000208/left.json", + "scene_id": "wrong_orientation/scene_000208", + "seed": 152080000, + "shared_state": "wrong_orientation/scene_000208/shared_state.npz", + "video": "wrong_orientation/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000208/front.json", + "scene_id": "wrong_orientation/scene_000208", + "seed": 152080000, + "shared_state": "wrong_orientation/scene_000208/shared_state.npz", + "video": "wrong_orientation/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000208/right.json", + "scene_id": "wrong_orientation/scene_000208", + "seed": 152080000, + "shared_state": "wrong_orientation/scene_000208/shared_state.npz", + "video": "wrong_orientation/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000209/left.json", + "scene_id": "wrong_orientation/scene_000209", + "seed": 152090001, + "shared_state": "wrong_orientation/scene_000209/shared_state.npz", + "video": "wrong_orientation/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000209/front.json", + "scene_id": "wrong_orientation/scene_000209", + "seed": 152090001, + "shared_state": "wrong_orientation/scene_000209/shared_state.npz", + "video": "wrong_orientation/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000209/right.json", + "scene_id": "wrong_orientation/scene_000209", + "seed": 152090001, + "shared_state": "wrong_orientation/scene_000209/shared_state.npz", + "video": "wrong_orientation/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000210/left.json", + "scene_id": "wrong_orientation/scene_000210", + "seed": 152100001, + "shared_state": "wrong_orientation/scene_000210/shared_state.npz", + "video": "wrong_orientation/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000210/front.json", + "scene_id": "wrong_orientation/scene_000210", + "seed": 152100001, + "shared_state": "wrong_orientation/scene_000210/shared_state.npz", + "video": "wrong_orientation/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000210/right.json", + "scene_id": "wrong_orientation/scene_000210", + "seed": 152100001, + "shared_state": "wrong_orientation/scene_000210/shared_state.npz", + "video": "wrong_orientation/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000211/left.json", + "scene_id": "wrong_orientation/scene_000211", + "seed": 152110000, + "shared_state": "wrong_orientation/scene_000211/shared_state.npz", + "video": "wrong_orientation/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000211/front.json", + "scene_id": "wrong_orientation/scene_000211", + "seed": 152110000, + "shared_state": "wrong_orientation/scene_000211/shared_state.npz", + "video": "wrong_orientation/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000211/right.json", + "scene_id": "wrong_orientation/scene_000211", + "seed": 152110000, + "shared_state": "wrong_orientation/scene_000211/shared_state.npz", + "video": "wrong_orientation/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000212/left.json", + "scene_id": "wrong_orientation/scene_000212", + "seed": 152120000, + "shared_state": "wrong_orientation/scene_000212/shared_state.npz", + "video": "wrong_orientation/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000212/front.json", + "scene_id": "wrong_orientation/scene_000212", + "seed": 152120000, + "shared_state": "wrong_orientation/scene_000212/shared_state.npz", + "video": "wrong_orientation/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000212/right.json", + "scene_id": "wrong_orientation/scene_000212", + "seed": 152120000, + "shared_state": "wrong_orientation/scene_000212/shared_state.npz", + "video": "wrong_orientation/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000213/left.json", + "scene_id": "wrong_orientation/scene_000213", + "seed": 152130002, + "shared_state": "wrong_orientation/scene_000213/shared_state.npz", + "video": "wrong_orientation/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000213/front.json", + "scene_id": "wrong_orientation/scene_000213", + "seed": 152130002, + "shared_state": "wrong_orientation/scene_000213/shared_state.npz", + "video": "wrong_orientation/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000213/right.json", + "scene_id": "wrong_orientation/scene_000213", + "seed": 152130002, + "shared_state": "wrong_orientation/scene_000213/shared_state.npz", + "video": "wrong_orientation/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000214/left.json", + "scene_id": "wrong_orientation/scene_000214", + "seed": 152140003, + "shared_state": "wrong_orientation/scene_000214/shared_state.npz", + "video": "wrong_orientation/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000214/front.json", + "scene_id": "wrong_orientation/scene_000214", + "seed": 152140003, + "shared_state": "wrong_orientation/scene_000214/shared_state.npz", + "video": "wrong_orientation/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000214/right.json", + "scene_id": "wrong_orientation/scene_000214", + "seed": 152140003, + "shared_state": "wrong_orientation/scene_000214/shared_state.npz", + "video": "wrong_orientation/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000215/left.json", + "scene_id": "wrong_orientation/scene_000215", + "seed": 152150005, + "shared_state": "wrong_orientation/scene_000215/shared_state.npz", + "video": "wrong_orientation/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000215/front.json", + "scene_id": "wrong_orientation/scene_000215", + "seed": 152150005, + "shared_state": "wrong_orientation/scene_000215/shared_state.npz", + "video": "wrong_orientation/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000215/right.json", + "scene_id": "wrong_orientation/scene_000215", + "seed": 152150005, + "shared_state": "wrong_orientation/scene_000215/shared_state.npz", + "video": "wrong_orientation/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000216/left.json", + "scene_id": "wrong_orientation/scene_000216", + "seed": 152160005, + "shared_state": "wrong_orientation/scene_000216/shared_state.npz", + "video": "wrong_orientation/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000216/front.json", + "scene_id": "wrong_orientation/scene_000216", + "seed": 152160005, + "shared_state": "wrong_orientation/scene_000216/shared_state.npz", + "video": "wrong_orientation/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000216/right.json", + "scene_id": "wrong_orientation/scene_000216", + "seed": 152160005, + "shared_state": "wrong_orientation/scene_000216/shared_state.npz", + "video": "wrong_orientation/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000217/left.json", + "scene_id": "wrong_orientation/scene_000217", + "seed": 152170000, + "shared_state": "wrong_orientation/scene_000217/shared_state.npz", + "video": "wrong_orientation/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000217/front.json", + "scene_id": "wrong_orientation/scene_000217", + "seed": 152170000, + "shared_state": "wrong_orientation/scene_000217/shared_state.npz", + "video": "wrong_orientation/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000217/right.json", + "scene_id": "wrong_orientation/scene_000217", + "seed": 152170000, + "shared_state": "wrong_orientation/scene_000217/shared_state.npz", + "video": "wrong_orientation/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000218/left.json", + "scene_id": "wrong_orientation/scene_000218", + "seed": 152180000, + "shared_state": "wrong_orientation/scene_000218/shared_state.npz", + "video": "wrong_orientation/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000218/front.json", + "scene_id": "wrong_orientation/scene_000218", + "seed": 152180000, + "shared_state": "wrong_orientation/scene_000218/shared_state.npz", + "video": "wrong_orientation/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000218/right.json", + "scene_id": "wrong_orientation/scene_000218", + "seed": 152180000, + "shared_state": "wrong_orientation/scene_000218/shared_state.npz", + "video": "wrong_orientation/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000219/left.json", + "scene_id": "wrong_orientation/scene_000219", + "seed": 152190000, + "shared_state": "wrong_orientation/scene_000219/shared_state.npz", + "video": "wrong_orientation/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000219/front.json", + "scene_id": "wrong_orientation/scene_000219", + "seed": 152190000, + "shared_state": "wrong_orientation/scene_000219/shared_state.npz", + "video": "wrong_orientation/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000219/right.json", + "scene_id": "wrong_orientation/scene_000219", + "seed": 152190000, + "shared_state": "wrong_orientation/scene_000219/shared_state.npz", + "video": "wrong_orientation/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000220/left.json", + "scene_id": "wrong_orientation/scene_000220", + "seed": 152200000, + "shared_state": "wrong_orientation/scene_000220/shared_state.npz", + "video": "wrong_orientation/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000220/front.json", + "scene_id": "wrong_orientation/scene_000220", + "seed": 152200000, + "shared_state": "wrong_orientation/scene_000220/shared_state.npz", + "video": "wrong_orientation/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000220/right.json", + "scene_id": "wrong_orientation/scene_000220", + "seed": 152200000, + "shared_state": "wrong_orientation/scene_000220/shared_state.npz", + "video": "wrong_orientation/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000221/left.json", + "scene_id": "wrong_orientation/scene_000221", + "seed": 152210002, + "shared_state": "wrong_orientation/scene_000221/shared_state.npz", + "video": "wrong_orientation/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000221/front.json", + "scene_id": "wrong_orientation/scene_000221", + "seed": 152210002, + "shared_state": "wrong_orientation/scene_000221/shared_state.npz", + "video": "wrong_orientation/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000221/right.json", + "scene_id": "wrong_orientation/scene_000221", + "seed": 152210002, + "shared_state": "wrong_orientation/scene_000221/shared_state.npz", + "video": "wrong_orientation/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000222/left.json", + "scene_id": "wrong_orientation/scene_000222", + "seed": 152220002, + "shared_state": "wrong_orientation/scene_000222/shared_state.npz", + "video": "wrong_orientation/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000222/front.json", + "scene_id": "wrong_orientation/scene_000222", + "seed": 152220002, + "shared_state": "wrong_orientation/scene_000222/shared_state.npz", + "video": "wrong_orientation/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000222/right.json", + "scene_id": "wrong_orientation/scene_000222", + "seed": 152220002, + "shared_state": "wrong_orientation/scene_000222/shared_state.npz", + "video": "wrong_orientation/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000223/left.json", + "scene_id": "wrong_orientation/scene_000223", + "seed": 152230000, + "shared_state": "wrong_orientation/scene_000223/shared_state.npz", + "video": "wrong_orientation/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000223/front.json", + "scene_id": "wrong_orientation/scene_000223", + "seed": 152230000, + "shared_state": "wrong_orientation/scene_000223/shared_state.npz", + "video": "wrong_orientation/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000223/right.json", + "scene_id": "wrong_orientation/scene_000223", + "seed": 152230000, + "shared_state": "wrong_orientation/scene_000223/shared_state.npz", + "video": "wrong_orientation/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000224/left.json", + "scene_id": "wrong_orientation/scene_000224", + "seed": 152240004, + "shared_state": "wrong_orientation/scene_000224/shared_state.npz", + "video": "wrong_orientation/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000224/front.json", + "scene_id": "wrong_orientation/scene_000224", + "seed": 152240004, + "shared_state": "wrong_orientation/scene_000224/shared_state.npz", + "video": "wrong_orientation/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000224/right.json", + "scene_id": "wrong_orientation/scene_000224", + "seed": 152240004, + "shared_state": "wrong_orientation/scene_000224/shared_state.npz", + "video": "wrong_orientation/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000225/left.json", + "scene_id": "wrong_orientation/scene_000225", + "seed": 152250002, + "shared_state": "wrong_orientation/scene_000225/shared_state.npz", + "video": "wrong_orientation/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000225/front.json", + "scene_id": "wrong_orientation/scene_000225", + "seed": 152250002, + "shared_state": "wrong_orientation/scene_000225/shared_state.npz", + "video": "wrong_orientation/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000225/right.json", + "scene_id": "wrong_orientation/scene_000225", + "seed": 152250002, + "shared_state": "wrong_orientation/scene_000225/shared_state.npz", + "video": "wrong_orientation/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000226/left.json", + "scene_id": "wrong_orientation/scene_000226", + "seed": 152260000, + "shared_state": "wrong_orientation/scene_000226/shared_state.npz", + "video": "wrong_orientation/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000226/front.json", + "scene_id": "wrong_orientation/scene_000226", + "seed": 152260000, + "shared_state": "wrong_orientation/scene_000226/shared_state.npz", + "video": "wrong_orientation/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000226/right.json", + "scene_id": "wrong_orientation/scene_000226", + "seed": 152260000, + "shared_state": "wrong_orientation/scene_000226/shared_state.npz", + "video": "wrong_orientation/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000227/left.json", + "scene_id": "wrong_orientation/scene_000227", + "seed": 152270000, + "shared_state": "wrong_orientation/scene_000227/shared_state.npz", + "video": "wrong_orientation/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000227/front.json", + "scene_id": "wrong_orientation/scene_000227", + "seed": 152270000, + "shared_state": "wrong_orientation/scene_000227/shared_state.npz", + "video": "wrong_orientation/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000227/right.json", + "scene_id": "wrong_orientation/scene_000227", + "seed": 152270000, + "shared_state": "wrong_orientation/scene_000227/shared_state.npz", + "video": "wrong_orientation/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000228/left.json", + "scene_id": "wrong_orientation/scene_000228", + "seed": 152280000, + "shared_state": "wrong_orientation/scene_000228/shared_state.npz", + "video": "wrong_orientation/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000228/front.json", + "scene_id": "wrong_orientation/scene_000228", + "seed": 152280000, + "shared_state": "wrong_orientation/scene_000228/shared_state.npz", + "video": "wrong_orientation/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000228/right.json", + "scene_id": "wrong_orientation/scene_000228", + "seed": 152280000, + "shared_state": "wrong_orientation/scene_000228/shared_state.npz", + "video": "wrong_orientation/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000229/left.json", + "scene_id": "wrong_orientation/scene_000229", + "seed": 152290001, + "shared_state": "wrong_orientation/scene_000229/shared_state.npz", + "video": "wrong_orientation/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000229/front.json", + "scene_id": "wrong_orientation/scene_000229", + "seed": 152290001, + "shared_state": "wrong_orientation/scene_000229/shared_state.npz", + "video": "wrong_orientation/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000229/right.json", + "scene_id": "wrong_orientation/scene_000229", + "seed": 152290001, + "shared_state": "wrong_orientation/scene_000229/shared_state.npz", + "video": "wrong_orientation/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000230/left.json", + "scene_id": "wrong_orientation/scene_000230", + "seed": 152300003, + "shared_state": "wrong_orientation/scene_000230/shared_state.npz", + "video": "wrong_orientation/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000230/front.json", + "scene_id": "wrong_orientation/scene_000230", + "seed": 152300003, + "shared_state": "wrong_orientation/scene_000230/shared_state.npz", + "video": "wrong_orientation/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000230/right.json", + "scene_id": "wrong_orientation/scene_000230", + "seed": 152300003, + "shared_state": "wrong_orientation/scene_000230/shared_state.npz", + "video": "wrong_orientation/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000231/left.json", + "scene_id": "wrong_orientation/scene_000231", + "seed": 152310000, + "shared_state": "wrong_orientation/scene_000231/shared_state.npz", + "video": "wrong_orientation/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000231/front.json", + "scene_id": "wrong_orientation/scene_000231", + "seed": 152310000, + "shared_state": "wrong_orientation/scene_000231/shared_state.npz", + "video": "wrong_orientation/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000231/right.json", + "scene_id": "wrong_orientation/scene_000231", + "seed": 152310000, + "shared_state": "wrong_orientation/scene_000231/shared_state.npz", + "video": "wrong_orientation/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000232/left.json", + "scene_id": "wrong_orientation/scene_000232", + "seed": 152320001, + "shared_state": "wrong_orientation/scene_000232/shared_state.npz", + "video": "wrong_orientation/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000232/front.json", + "scene_id": "wrong_orientation/scene_000232", + "seed": 152320001, + "shared_state": "wrong_orientation/scene_000232/shared_state.npz", + "video": "wrong_orientation/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000232/right.json", + "scene_id": "wrong_orientation/scene_000232", + "seed": 152320001, + "shared_state": "wrong_orientation/scene_000232/shared_state.npz", + "video": "wrong_orientation/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000233/left.json", + "scene_id": "wrong_orientation/scene_000233", + "seed": 152330000, + "shared_state": "wrong_orientation/scene_000233/shared_state.npz", + "video": "wrong_orientation/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000233/front.json", + "scene_id": "wrong_orientation/scene_000233", + "seed": 152330000, + "shared_state": "wrong_orientation/scene_000233/shared_state.npz", + "video": "wrong_orientation/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000233/right.json", + "scene_id": "wrong_orientation/scene_000233", + "seed": 152330000, + "shared_state": "wrong_orientation/scene_000233/shared_state.npz", + "video": "wrong_orientation/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000234/left.json", + "scene_id": "wrong_orientation/scene_000234", + "seed": 152340002, + "shared_state": "wrong_orientation/scene_000234/shared_state.npz", + "video": "wrong_orientation/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000234/front.json", + "scene_id": "wrong_orientation/scene_000234", + "seed": 152340002, + "shared_state": "wrong_orientation/scene_000234/shared_state.npz", + "video": "wrong_orientation/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000234/right.json", + "scene_id": "wrong_orientation/scene_000234", + "seed": 152340002, + "shared_state": "wrong_orientation/scene_000234/shared_state.npz", + "video": "wrong_orientation/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000235/left.json", + "scene_id": "wrong_orientation/scene_000235", + "seed": 152350001, + "shared_state": "wrong_orientation/scene_000235/shared_state.npz", + "video": "wrong_orientation/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000235/front.json", + "scene_id": "wrong_orientation/scene_000235", + "seed": 152350001, + "shared_state": "wrong_orientation/scene_000235/shared_state.npz", + "video": "wrong_orientation/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000235/right.json", + "scene_id": "wrong_orientation/scene_000235", + "seed": 152350001, + "shared_state": "wrong_orientation/scene_000235/shared_state.npz", + "video": "wrong_orientation/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000236/left.json", + "scene_id": "wrong_orientation/scene_000236", + "seed": 152360000, + "shared_state": "wrong_orientation/scene_000236/shared_state.npz", + "video": "wrong_orientation/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000236/front.json", + "scene_id": "wrong_orientation/scene_000236", + "seed": 152360000, + "shared_state": "wrong_orientation/scene_000236/shared_state.npz", + "video": "wrong_orientation/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000236/right.json", + "scene_id": "wrong_orientation/scene_000236", + "seed": 152360000, + "shared_state": "wrong_orientation/scene_000236/shared_state.npz", + "video": "wrong_orientation/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000237/left.json", + "scene_id": "wrong_orientation/scene_000237", + "seed": 152370002, + "shared_state": "wrong_orientation/scene_000237/shared_state.npz", + "video": "wrong_orientation/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000237/front.json", + "scene_id": "wrong_orientation/scene_000237", + "seed": 152370002, + "shared_state": "wrong_orientation/scene_000237/shared_state.npz", + "video": "wrong_orientation/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000237/right.json", + "scene_id": "wrong_orientation/scene_000237", + "seed": 152370002, + "shared_state": "wrong_orientation/scene_000237/shared_state.npz", + "video": "wrong_orientation/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000238/left.json", + "scene_id": "wrong_orientation/scene_000238", + "seed": 152380002, + "shared_state": "wrong_orientation/scene_000238/shared_state.npz", + "video": "wrong_orientation/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000238/front.json", + "scene_id": "wrong_orientation/scene_000238", + "seed": 152380002, + "shared_state": "wrong_orientation/scene_000238/shared_state.npz", + "video": "wrong_orientation/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000238/right.json", + "scene_id": "wrong_orientation/scene_000238", + "seed": 152380002, + "shared_state": "wrong_orientation/scene_000238/shared_state.npz", + "video": "wrong_orientation/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000239/left.json", + "scene_id": "wrong_orientation/scene_000239", + "seed": 152390000, + "shared_state": "wrong_orientation/scene_000239/shared_state.npz", + "video": "wrong_orientation/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000239/front.json", + "scene_id": "wrong_orientation/scene_000239", + "seed": 152390000, + "shared_state": "wrong_orientation/scene_000239/shared_state.npz", + "video": "wrong_orientation/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000239/right.json", + "scene_id": "wrong_orientation/scene_000239", + "seed": 152390000, + "shared_state": "wrong_orientation/scene_000239/shared_state.npz", + "video": "wrong_orientation/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000240/left.json", + "scene_id": "wrong_orientation/scene_000240", + "seed": 152400000, + "shared_state": "wrong_orientation/scene_000240/shared_state.npz", + "video": "wrong_orientation/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000240/front.json", + "scene_id": "wrong_orientation/scene_000240", + "seed": 152400000, + "shared_state": "wrong_orientation/scene_000240/shared_state.npz", + "video": "wrong_orientation/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000240/right.json", + "scene_id": "wrong_orientation/scene_000240", + "seed": 152400000, + "shared_state": "wrong_orientation/scene_000240/shared_state.npz", + "video": "wrong_orientation/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000241/left.json", + "scene_id": "wrong_orientation/scene_000241", + "seed": 152410000, + "shared_state": "wrong_orientation/scene_000241/shared_state.npz", + "video": "wrong_orientation/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000241/front.json", + "scene_id": "wrong_orientation/scene_000241", + "seed": 152410000, + "shared_state": "wrong_orientation/scene_000241/shared_state.npz", + "video": "wrong_orientation/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000241/right.json", + "scene_id": "wrong_orientation/scene_000241", + "seed": 152410000, + "shared_state": "wrong_orientation/scene_000241/shared_state.npz", + "video": "wrong_orientation/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000242/left.json", + "scene_id": "wrong_orientation/scene_000242", + "seed": 152420002, + "shared_state": "wrong_orientation/scene_000242/shared_state.npz", + "video": "wrong_orientation/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000242/front.json", + "scene_id": "wrong_orientation/scene_000242", + "seed": 152420002, + "shared_state": "wrong_orientation/scene_000242/shared_state.npz", + "video": "wrong_orientation/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000242/right.json", + "scene_id": "wrong_orientation/scene_000242", + "seed": 152420002, + "shared_state": "wrong_orientation/scene_000242/shared_state.npz", + "video": "wrong_orientation/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000243/left.json", + "scene_id": "wrong_orientation/scene_000243", + "seed": 152430000, + "shared_state": "wrong_orientation/scene_000243/shared_state.npz", + "video": "wrong_orientation/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000243/front.json", + "scene_id": "wrong_orientation/scene_000243", + "seed": 152430000, + "shared_state": "wrong_orientation/scene_000243/shared_state.npz", + "video": "wrong_orientation/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000243/right.json", + "scene_id": "wrong_orientation/scene_000243", + "seed": 152430000, + "shared_state": "wrong_orientation/scene_000243/shared_state.npz", + "video": "wrong_orientation/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000244/left.json", + "scene_id": "wrong_orientation/scene_000244", + "seed": 152440000, + "shared_state": "wrong_orientation/scene_000244/shared_state.npz", + "video": "wrong_orientation/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000244/front.json", + "scene_id": "wrong_orientation/scene_000244", + "seed": 152440000, + "shared_state": "wrong_orientation/scene_000244/shared_state.npz", + "video": "wrong_orientation/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000244/right.json", + "scene_id": "wrong_orientation/scene_000244", + "seed": 152440000, + "shared_state": "wrong_orientation/scene_000244/shared_state.npz", + "video": "wrong_orientation/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000245/left.json", + "scene_id": "wrong_orientation/scene_000245", + "seed": 152450001, + "shared_state": "wrong_orientation/scene_000245/shared_state.npz", + "video": "wrong_orientation/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000245/front.json", + "scene_id": "wrong_orientation/scene_000245", + "seed": 152450001, + "shared_state": "wrong_orientation/scene_000245/shared_state.npz", + "video": "wrong_orientation/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000245/right.json", + "scene_id": "wrong_orientation/scene_000245", + "seed": 152450001, + "shared_state": "wrong_orientation/scene_000245/shared_state.npz", + "video": "wrong_orientation/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000246/left.json", + "scene_id": "wrong_orientation/scene_000246", + "seed": 152460000, + "shared_state": "wrong_orientation/scene_000246/shared_state.npz", + "video": "wrong_orientation/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000246/front.json", + "scene_id": "wrong_orientation/scene_000246", + "seed": 152460000, + "shared_state": "wrong_orientation/scene_000246/shared_state.npz", + "video": "wrong_orientation/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000246/right.json", + "scene_id": "wrong_orientation/scene_000246", + "seed": 152460000, + "shared_state": "wrong_orientation/scene_000246/shared_state.npz", + "video": "wrong_orientation/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000247/left.json", + "scene_id": "wrong_orientation/scene_000247", + "seed": 152470001, + "shared_state": "wrong_orientation/scene_000247/shared_state.npz", + "video": "wrong_orientation/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000247/front.json", + "scene_id": "wrong_orientation/scene_000247", + "seed": 152470001, + "shared_state": "wrong_orientation/scene_000247/shared_state.npz", + "video": "wrong_orientation/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000247/right.json", + "scene_id": "wrong_orientation/scene_000247", + "seed": 152470001, + "shared_state": "wrong_orientation/scene_000247/shared_state.npz", + "video": "wrong_orientation/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000248/left.json", + "scene_id": "wrong_orientation/scene_000248", + "seed": 152480001, + "shared_state": "wrong_orientation/scene_000248/shared_state.npz", + "video": "wrong_orientation/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000248/front.json", + "scene_id": "wrong_orientation/scene_000248", + "seed": 152480001, + "shared_state": "wrong_orientation/scene_000248/shared_state.npz", + "video": "wrong_orientation/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000248/right.json", + "scene_id": "wrong_orientation/scene_000248", + "seed": 152480001, + "shared_state": "wrong_orientation/scene_000248/shared_state.npz", + "video": "wrong_orientation/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000249/left.json", + "scene_id": "wrong_orientation/scene_000249", + "seed": 152490001, + "shared_state": "wrong_orientation/scene_000249/shared_state.npz", + "video": "wrong_orientation/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000249/front.json", + "scene_id": "wrong_orientation/scene_000249", + "seed": 152490001, + "shared_state": "wrong_orientation/scene_000249/shared_state.npz", + "video": "wrong_orientation/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000249/right.json", + "scene_id": "wrong_orientation/scene_000249", + "seed": 152490001, + "shared_state": "wrong_orientation/scene_000249/shared_state.npz", + "video": "wrong_orientation/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000250/left.json", + "scene_id": "wrong_orientation/scene_000250", + "seed": 152500002, + "shared_state": "wrong_orientation/scene_000250/shared_state.npz", + "video": "wrong_orientation/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000250/front.json", + "scene_id": "wrong_orientation/scene_000250", + "seed": 152500002, + "shared_state": "wrong_orientation/scene_000250/shared_state.npz", + "video": "wrong_orientation/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000250/right.json", + "scene_id": "wrong_orientation/scene_000250", + "seed": 152500002, + "shared_state": "wrong_orientation/scene_000250/shared_state.npz", + "video": "wrong_orientation/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000251/left.json", + "scene_id": "wrong_orientation/scene_000251", + "seed": 152510002, + "shared_state": "wrong_orientation/scene_000251/shared_state.npz", + "video": "wrong_orientation/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000251/front.json", + "scene_id": "wrong_orientation/scene_000251", + "seed": 152510002, + "shared_state": "wrong_orientation/scene_000251/shared_state.npz", + "video": "wrong_orientation/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000251/right.json", + "scene_id": "wrong_orientation/scene_000251", + "seed": 152510002, + "shared_state": "wrong_orientation/scene_000251/shared_state.npz", + "video": "wrong_orientation/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000252/left.json", + "scene_id": "wrong_orientation/scene_000252", + "seed": 152520000, + "shared_state": "wrong_orientation/scene_000252/shared_state.npz", + "video": "wrong_orientation/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000252/front.json", + "scene_id": "wrong_orientation/scene_000252", + "seed": 152520000, + "shared_state": "wrong_orientation/scene_000252/shared_state.npz", + "video": "wrong_orientation/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000252/right.json", + "scene_id": "wrong_orientation/scene_000252", + "seed": 152520000, + "shared_state": "wrong_orientation/scene_000252/shared_state.npz", + "video": "wrong_orientation/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000253/left.json", + "scene_id": "wrong_orientation/scene_000253", + "seed": 152530003, + "shared_state": "wrong_orientation/scene_000253/shared_state.npz", + "video": "wrong_orientation/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000253/front.json", + "scene_id": "wrong_orientation/scene_000253", + "seed": 152530003, + "shared_state": "wrong_orientation/scene_000253/shared_state.npz", + "video": "wrong_orientation/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000253/right.json", + "scene_id": "wrong_orientation/scene_000253", + "seed": 152530003, + "shared_state": "wrong_orientation/scene_000253/shared_state.npz", + "video": "wrong_orientation/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000254/left.json", + "scene_id": "wrong_orientation/scene_000254", + "seed": 152540000, + "shared_state": "wrong_orientation/scene_000254/shared_state.npz", + "video": "wrong_orientation/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000254/front.json", + "scene_id": "wrong_orientation/scene_000254", + "seed": 152540000, + "shared_state": "wrong_orientation/scene_000254/shared_state.npz", + "video": "wrong_orientation/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000254/right.json", + "scene_id": "wrong_orientation/scene_000254", + "seed": 152540000, + "shared_state": "wrong_orientation/scene_000254/shared_state.npz", + "video": "wrong_orientation/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000255/left.json", + "scene_id": "wrong_orientation/scene_000255", + "seed": 152550000, + "shared_state": "wrong_orientation/scene_000255/shared_state.npz", + "video": "wrong_orientation/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000255/front.json", + "scene_id": "wrong_orientation/scene_000255", + "seed": 152550000, + "shared_state": "wrong_orientation/scene_000255/shared_state.npz", + "video": "wrong_orientation/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000255/right.json", + "scene_id": "wrong_orientation/scene_000255", + "seed": 152550000, + "shared_state": "wrong_orientation/scene_000255/shared_state.npz", + "video": "wrong_orientation/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000256/left.json", + "scene_id": "wrong_orientation/scene_000256", + "seed": 152560001, + "shared_state": "wrong_orientation/scene_000256/shared_state.npz", + "video": "wrong_orientation/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000256/front.json", + "scene_id": "wrong_orientation/scene_000256", + "seed": 152560001, + "shared_state": "wrong_orientation/scene_000256/shared_state.npz", + "video": "wrong_orientation/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000256/right.json", + "scene_id": "wrong_orientation/scene_000256", + "seed": 152560001, + "shared_state": "wrong_orientation/scene_000256/shared_state.npz", + "video": "wrong_orientation/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000257/left.json", + "scene_id": "wrong_orientation/scene_000257", + "seed": 152570000, + "shared_state": "wrong_orientation/scene_000257/shared_state.npz", + "video": "wrong_orientation/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000257/front.json", + "scene_id": "wrong_orientation/scene_000257", + "seed": 152570000, + "shared_state": "wrong_orientation/scene_000257/shared_state.npz", + "video": "wrong_orientation/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000257/right.json", + "scene_id": "wrong_orientation/scene_000257", + "seed": 152570000, + "shared_state": "wrong_orientation/scene_000257/shared_state.npz", + "video": "wrong_orientation/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000258/left.json", + "scene_id": "wrong_orientation/scene_000258", + "seed": 152580002, + "shared_state": "wrong_orientation/scene_000258/shared_state.npz", + "video": "wrong_orientation/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000258/front.json", + "scene_id": "wrong_orientation/scene_000258", + "seed": 152580002, + "shared_state": "wrong_orientation/scene_000258/shared_state.npz", + "video": "wrong_orientation/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000258/right.json", + "scene_id": "wrong_orientation/scene_000258", + "seed": 152580002, + "shared_state": "wrong_orientation/scene_000258/shared_state.npz", + "video": "wrong_orientation/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000259/left.json", + "scene_id": "wrong_orientation/scene_000259", + "seed": 152590001, + "shared_state": "wrong_orientation/scene_000259/shared_state.npz", + "video": "wrong_orientation/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000259/front.json", + "scene_id": "wrong_orientation/scene_000259", + "seed": 152590001, + "shared_state": "wrong_orientation/scene_000259/shared_state.npz", + "video": "wrong_orientation/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000259/right.json", + "scene_id": "wrong_orientation/scene_000259", + "seed": 152590001, + "shared_state": "wrong_orientation/scene_000259/shared_state.npz", + "video": "wrong_orientation/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000260/left.json", + "scene_id": "wrong_orientation/scene_000260", + "seed": 152600000, + "shared_state": "wrong_orientation/scene_000260/shared_state.npz", + "video": "wrong_orientation/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000260/front.json", + "scene_id": "wrong_orientation/scene_000260", + "seed": 152600000, + "shared_state": "wrong_orientation/scene_000260/shared_state.npz", + "video": "wrong_orientation/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000260/right.json", + "scene_id": "wrong_orientation/scene_000260", + "seed": 152600000, + "shared_state": "wrong_orientation/scene_000260/shared_state.npz", + "video": "wrong_orientation/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000261/left.json", + "scene_id": "wrong_orientation/scene_000261", + "seed": 152610001, + "shared_state": "wrong_orientation/scene_000261/shared_state.npz", + "video": "wrong_orientation/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000261/front.json", + "scene_id": "wrong_orientation/scene_000261", + "seed": 152610001, + "shared_state": "wrong_orientation/scene_000261/shared_state.npz", + "video": "wrong_orientation/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000261/right.json", + "scene_id": "wrong_orientation/scene_000261", + "seed": 152610001, + "shared_state": "wrong_orientation/scene_000261/shared_state.npz", + "video": "wrong_orientation/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000262/left.json", + "scene_id": "wrong_orientation/scene_000262", + "seed": 152620000, + "shared_state": "wrong_orientation/scene_000262/shared_state.npz", + "video": "wrong_orientation/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000262/front.json", + "scene_id": "wrong_orientation/scene_000262", + "seed": 152620000, + "shared_state": "wrong_orientation/scene_000262/shared_state.npz", + "video": "wrong_orientation/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000262/right.json", + "scene_id": "wrong_orientation/scene_000262", + "seed": 152620000, + "shared_state": "wrong_orientation/scene_000262/shared_state.npz", + "video": "wrong_orientation/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000263/left.json", + "scene_id": "wrong_orientation/scene_000263", + "seed": 152630001, + "shared_state": "wrong_orientation/scene_000263/shared_state.npz", + "video": "wrong_orientation/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000263/front.json", + "scene_id": "wrong_orientation/scene_000263", + "seed": 152630001, + "shared_state": "wrong_orientation/scene_000263/shared_state.npz", + "video": "wrong_orientation/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000263/right.json", + "scene_id": "wrong_orientation/scene_000263", + "seed": 152630001, + "shared_state": "wrong_orientation/scene_000263/shared_state.npz", + "video": "wrong_orientation/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000264/left.json", + "scene_id": "wrong_orientation/scene_000264", + "seed": 152640002, + "shared_state": "wrong_orientation/scene_000264/shared_state.npz", + "video": "wrong_orientation/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000264/front.json", + "scene_id": "wrong_orientation/scene_000264", + "seed": 152640002, + "shared_state": "wrong_orientation/scene_000264/shared_state.npz", + "video": "wrong_orientation/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000264/right.json", + "scene_id": "wrong_orientation/scene_000264", + "seed": 152640002, + "shared_state": "wrong_orientation/scene_000264/shared_state.npz", + "video": "wrong_orientation/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000265/left.json", + "scene_id": "wrong_orientation/scene_000265", + "seed": 152650000, + "shared_state": "wrong_orientation/scene_000265/shared_state.npz", + "video": "wrong_orientation/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000265/front.json", + "scene_id": "wrong_orientation/scene_000265", + "seed": 152650000, + "shared_state": "wrong_orientation/scene_000265/shared_state.npz", + "video": "wrong_orientation/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000265/right.json", + "scene_id": "wrong_orientation/scene_000265", + "seed": 152650000, + "shared_state": "wrong_orientation/scene_000265/shared_state.npz", + "video": "wrong_orientation/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000266/left.json", + "scene_id": "wrong_orientation/scene_000266", + "seed": 152660001, + "shared_state": "wrong_orientation/scene_000266/shared_state.npz", + "video": "wrong_orientation/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000266/front.json", + "scene_id": "wrong_orientation/scene_000266", + "seed": 152660001, + "shared_state": "wrong_orientation/scene_000266/shared_state.npz", + "video": "wrong_orientation/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000266/right.json", + "scene_id": "wrong_orientation/scene_000266", + "seed": 152660001, + "shared_state": "wrong_orientation/scene_000266/shared_state.npz", + "video": "wrong_orientation/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000267/left.json", + "scene_id": "wrong_orientation/scene_000267", + "seed": 152670005, + "shared_state": "wrong_orientation/scene_000267/shared_state.npz", + "video": "wrong_orientation/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000267/front.json", + "scene_id": "wrong_orientation/scene_000267", + "seed": 152670005, + "shared_state": "wrong_orientation/scene_000267/shared_state.npz", + "video": "wrong_orientation/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000267/right.json", + "scene_id": "wrong_orientation/scene_000267", + "seed": 152670005, + "shared_state": "wrong_orientation/scene_000267/shared_state.npz", + "video": "wrong_orientation/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000268/left.json", + "scene_id": "wrong_orientation/scene_000268", + "seed": 152680000, + "shared_state": "wrong_orientation/scene_000268/shared_state.npz", + "video": "wrong_orientation/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000268/front.json", + "scene_id": "wrong_orientation/scene_000268", + "seed": 152680000, + "shared_state": "wrong_orientation/scene_000268/shared_state.npz", + "video": "wrong_orientation/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000268/right.json", + "scene_id": "wrong_orientation/scene_000268", + "seed": 152680000, + "shared_state": "wrong_orientation/scene_000268/shared_state.npz", + "video": "wrong_orientation/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000269/left.json", + "scene_id": "wrong_orientation/scene_000269", + "seed": 152690001, + "shared_state": "wrong_orientation/scene_000269/shared_state.npz", + "video": "wrong_orientation/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000269/front.json", + "scene_id": "wrong_orientation/scene_000269", + "seed": 152690001, + "shared_state": "wrong_orientation/scene_000269/shared_state.npz", + "video": "wrong_orientation/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000269/right.json", + "scene_id": "wrong_orientation/scene_000269", + "seed": 152690001, + "shared_state": "wrong_orientation/scene_000269/shared_state.npz", + "video": "wrong_orientation/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000270/left.json", + "scene_id": "wrong_orientation/scene_000270", + "seed": 152700001, + "shared_state": "wrong_orientation/scene_000270/shared_state.npz", + "video": "wrong_orientation/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000270/front.json", + "scene_id": "wrong_orientation/scene_000270", + "seed": 152700001, + "shared_state": "wrong_orientation/scene_000270/shared_state.npz", + "video": "wrong_orientation/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000270/right.json", + "scene_id": "wrong_orientation/scene_000270", + "seed": 152700001, + "shared_state": "wrong_orientation/scene_000270/shared_state.npz", + "video": "wrong_orientation/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000271/left.json", + "scene_id": "wrong_orientation/scene_000271", + "seed": 152710001, + "shared_state": "wrong_orientation/scene_000271/shared_state.npz", + "video": "wrong_orientation/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000271/front.json", + "scene_id": "wrong_orientation/scene_000271", + "seed": 152710001, + "shared_state": "wrong_orientation/scene_000271/shared_state.npz", + "video": "wrong_orientation/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000271/right.json", + "scene_id": "wrong_orientation/scene_000271", + "seed": 152710001, + "shared_state": "wrong_orientation/scene_000271/shared_state.npz", + "video": "wrong_orientation/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000272/left.json", + "scene_id": "wrong_orientation/scene_000272", + "seed": 152720000, + "shared_state": "wrong_orientation/scene_000272/shared_state.npz", + "video": "wrong_orientation/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000272/front.json", + "scene_id": "wrong_orientation/scene_000272", + "seed": 152720000, + "shared_state": "wrong_orientation/scene_000272/shared_state.npz", + "video": "wrong_orientation/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000272/right.json", + "scene_id": "wrong_orientation/scene_000272", + "seed": 152720000, + "shared_state": "wrong_orientation/scene_000272/shared_state.npz", + "video": "wrong_orientation/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000273/left.json", + "scene_id": "wrong_orientation/scene_000273", + "seed": 152730001, + "shared_state": "wrong_orientation/scene_000273/shared_state.npz", + "video": "wrong_orientation/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000273/front.json", + "scene_id": "wrong_orientation/scene_000273", + "seed": 152730001, + "shared_state": "wrong_orientation/scene_000273/shared_state.npz", + "video": "wrong_orientation/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000273/right.json", + "scene_id": "wrong_orientation/scene_000273", + "seed": 152730001, + "shared_state": "wrong_orientation/scene_000273/shared_state.npz", + "video": "wrong_orientation/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000274/left.json", + "scene_id": "wrong_orientation/scene_000274", + "seed": 152740000, + "shared_state": "wrong_orientation/scene_000274/shared_state.npz", + "video": "wrong_orientation/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000274/front.json", + "scene_id": "wrong_orientation/scene_000274", + "seed": 152740000, + "shared_state": "wrong_orientation/scene_000274/shared_state.npz", + "video": "wrong_orientation/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000274/right.json", + "scene_id": "wrong_orientation/scene_000274", + "seed": 152740000, + "shared_state": "wrong_orientation/scene_000274/shared_state.npz", + "video": "wrong_orientation/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000275/left.json", + "scene_id": "wrong_orientation/scene_000275", + "seed": 152750002, + "shared_state": "wrong_orientation/scene_000275/shared_state.npz", + "video": "wrong_orientation/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000275/front.json", + "scene_id": "wrong_orientation/scene_000275", + "seed": 152750002, + "shared_state": "wrong_orientation/scene_000275/shared_state.npz", + "video": "wrong_orientation/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000275/right.json", + "scene_id": "wrong_orientation/scene_000275", + "seed": 152750002, + "shared_state": "wrong_orientation/scene_000275/shared_state.npz", + "video": "wrong_orientation/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000276/left.json", + "scene_id": "wrong_orientation/scene_000276", + "seed": 152760001, + "shared_state": "wrong_orientation/scene_000276/shared_state.npz", + "video": "wrong_orientation/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000276/front.json", + "scene_id": "wrong_orientation/scene_000276", + "seed": 152760001, + "shared_state": "wrong_orientation/scene_000276/shared_state.npz", + "video": "wrong_orientation/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000276/right.json", + "scene_id": "wrong_orientation/scene_000276", + "seed": 152760001, + "shared_state": "wrong_orientation/scene_000276/shared_state.npz", + "video": "wrong_orientation/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000277/left.json", + "scene_id": "wrong_orientation/scene_000277", + "seed": 152770007, + "shared_state": "wrong_orientation/scene_000277/shared_state.npz", + "video": "wrong_orientation/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000277/front.json", + "scene_id": "wrong_orientation/scene_000277", + "seed": 152770007, + "shared_state": "wrong_orientation/scene_000277/shared_state.npz", + "video": "wrong_orientation/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000277/right.json", + "scene_id": "wrong_orientation/scene_000277", + "seed": 152770007, + "shared_state": "wrong_orientation/scene_000277/shared_state.npz", + "video": "wrong_orientation/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000278/left.json", + "scene_id": "wrong_orientation/scene_000278", + "seed": 152780000, + "shared_state": "wrong_orientation/scene_000278/shared_state.npz", + "video": "wrong_orientation/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000278/front.json", + "scene_id": "wrong_orientation/scene_000278", + "seed": 152780000, + "shared_state": "wrong_orientation/scene_000278/shared_state.npz", + "video": "wrong_orientation/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000278/right.json", + "scene_id": "wrong_orientation/scene_000278", + "seed": 152780000, + "shared_state": "wrong_orientation/scene_000278/shared_state.npz", + "video": "wrong_orientation/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000279/left.json", + "scene_id": "wrong_orientation/scene_000279", + "seed": 152790000, + "shared_state": "wrong_orientation/scene_000279/shared_state.npz", + "video": "wrong_orientation/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000279/front.json", + "scene_id": "wrong_orientation/scene_000279", + "seed": 152790000, + "shared_state": "wrong_orientation/scene_000279/shared_state.npz", + "video": "wrong_orientation/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000279/right.json", + "scene_id": "wrong_orientation/scene_000279", + "seed": 152790000, + "shared_state": "wrong_orientation/scene_000279/shared_state.npz", + "video": "wrong_orientation/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000280/left.json", + "scene_id": "wrong_orientation/scene_000280", + "seed": 152800001, + "shared_state": "wrong_orientation/scene_000280/shared_state.npz", + "video": "wrong_orientation/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000280/front.json", + "scene_id": "wrong_orientation/scene_000280", + "seed": 152800001, + "shared_state": "wrong_orientation/scene_000280/shared_state.npz", + "video": "wrong_orientation/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000280/right.json", + "scene_id": "wrong_orientation/scene_000280", + "seed": 152800001, + "shared_state": "wrong_orientation/scene_000280/shared_state.npz", + "video": "wrong_orientation/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000281/left.json", + "scene_id": "wrong_orientation/scene_000281", + "seed": 152810002, + "shared_state": "wrong_orientation/scene_000281/shared_state.npz", + "video": "wrong_orientation/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000281/front.json", + "scene_id": "wrong_orientation/scene_000281", + "seed": 152810002, + "shared_state": "wrong_orientation/scene_000281/shared_state.npz", + "video": "wrong_orientation/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000281/right.json", + "scene_id": "wrong_orientation/scene_000281", + "seed": 152810002, + "shared_state": "wrong_orientation/scene_000281/shared_state.npz", + "video": "wrong_orientation/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000282/left.json", + "scene_id": "wrong_orientation/scene_000282", + "seed": 152820003, + "shared_state": "wrong_orientation/scene_000282/shared_state.npz", + "video": "wrong_orientation/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000282/front.json", + "scene_id": "wrong_orientation/scene_000282", + "seed": 152820003, + "shared_state": "wrong_orientation/scene_000282/shared_state.npz", + "video": "wrong_orientation/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000282/right.json", + "scene_id": "wrong_orientation/scene_000282", + "seed": 152820003, + "shared_state": "wrong_orientation/scene_000282/shared_state.npz", + "video": "wrong_orientation/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000283/left.json", + "scene_id": "wrong_orientation/scene_000283", + "seed": 152830001, + "shared_state": "wrong_orientation/scene_000283/shared_state.npz", + "video": "wrong_orientation/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000283/front.json", + "scene_id": "wrong_orientation/scene_000283", + "seed": 152830001, + "shared_state": "wrong_orientation/scene_000283/shared_state.npz", + "video": "wrong_orientation/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000283/right.json", + "scene_id": "wrong_orientation/scene_000283", + "seed": 152830001, + "shared_state": "wrong_orientation/scene_000283/shared_state.npz", + "video": "wrong_orientation/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000284/left.json", + "scene_id": "wrong_orientation/scene_000284", + "seed": 152840001, + "shared_state": "wrong_orientation/scene_000284/shared_state.npz", + "video": "wrong_orientation/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000284/front.json", + "scene_id": "wrong_orientation/scene_000284", + "seed": 152840001, + "shared_state": "wrong_orientation/scene_000284/shared_state.npz", + "video": "wrong_orientation/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000284/right.json", + "scene_id": "wrong_orientation/scene_000284", + "seed": 152840001, + "shared_state": "wrong_orientation/scene_000284/shared_state.npz", + "video": "wrong_orientation/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000285/left.json", + "scene_id": "wrong_orientation/scene_000285", + "seed": 152850000, + "shared_state": "wrong_orientation/scene_000285/shared_state.npz", + "video": "wrong_orientation/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000285/front.json", + "scene_id": "wrong_orientation/scene_000285", + "seed": 152850000, + "shared_state": "wrong_orientation/scene_000285/shared_state.npz", + "video": "wrong_orientation/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000285/right.json", + "scene_id": "wrong_orientation/scene_000285", + "seed": 152850000, + "shared_state": "wrong_orientation/scene_000285/shared_state.npz", + "video": "wrong_orientation/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000286/left.json", + "scene_id": "wrong_orientation/scene_000286", + "seed": 152860000, + "shared_state": "wrong_orientation/scene_000286/shared_state.npz", + "video": "wrong_orientation/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000286/front.json", + "scene_id": "wrong_orientation/scene_000286", + "seed": 152860000, + "shared_state": "wrong_orientation/scene_000286/shared_state.npz", + "video": "wrong_orientation/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000286/right.json", + "scene_id": "wrong_orientation/scene_000286", + "seed": 152860000, + "shared_state": "wrong_orientation/scene_000286/shared_state.npz", + "video": "wrong_orientation/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000287/left.json", + "scene_id": "wrong_orientation/scene_000287", + "seed": 152870001, + "shared_state": "wrong_orientation/scene_000287/shared_state.npz", + "video": "wrong_orientation/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000287/front.json", + "scene_id": "wrong_orientation/scene_000287", + "seed": 152870001, + "shared_state": "wrong_orientation/scene_000287/shared_state.npz", + "video": "wrong_orientation/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000287/right.json", + "scene_id": "wrong_orientation/scene_000287", + "seed": 152870001, + "shared_state": "wrong_orientation/scene_000287/shared_state.npz", + "video": "wrong_orientation/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000288/left.json", + "scene_id": "wrong_orientation/scene_000288", + "seed": 152880000, + "shared_state": "wrong_orientation/scene_000288/shared_state.npz", + "video": "wrong_orientation/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000288/front.json", + "scene_id": "wrong_orientation/scene_000288", + "seed": 152880000, + "shared_state": "wrong_orientation/scene_000288/shared_state.npz", + "video": "wrong_orientation/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000288/right.json", + "scene_id": "wrong_orientation/scene_000288", + "seed": 152880000, + "shared_state": "wrong_orientation/scene_000288/shared_state.npz", + "video": "wrong_orientation/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000289/left.json", + "scene_id": "wrong_orientation/scene_000289", + "seed": 152890000, + "shared_state": "wrong_orientation/scene_000289/shared_state.npz", + "video": "wrong_orientation/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000289/front.json", + "scene_id": "wrong_orientation/scene_000289", + "seed": 152890000, + "shared_state": "wrong_orientation/scene_000289/shared_state.npz", + "video": "wrong_orientation/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000289/right.json", + "scene_id": "wrong_orientation/scene_000289", + "seed": 152890000, + "shared_state": "wrong_orientation/scene_000289/shared_state.npz", + "video": "wrong_orientation/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000290/left.json", + "scene_id": "wrong_orientation/scene_000290", + "seed": 152900004, + "shared_state": "wrong_orientation/scene_000290/shared_state.npz", + "video": "wrong_orientation/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000290/front.json", + "scene_id": "wrong_orientation/scene_000290", + "seed": 152900004, + "shared_state": "wrong_orientation/scene_000290/shared_state.npz", + "video": "wrong_orientation/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000290/right.json", + "scene_id": "wrong_orientation/scene_000290", + "seed": 152900004, + "shared_state": "wrong_orientation/scene_000290/shared_state.npz", + "video": "wrong_orientation/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000291/left.json", + "scene_id": "wrong_orientation/scene_000291", + "seed": 152910000, + "shared_state": "wrong_orientation/scene_000291/shared_state.npz", + "video": "wrong_orientation/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000291/front.json", + "scene_id": "wrong_orientation/scene_000291", + "seed": 152910000, + "shared_state": "wrong_orientation/scene_000291/shared_state.npz", + "video": "wrong_orientation/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000291/right.json", + "scene_id": "wrong_orientation/scene_000291", + "seed": 152910000, + "shared_state": "wrong_orientation/scene_000291/shared_state.npz", + "video": "wrong_orientation/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000292/left.json", + "scene_id": "wrong_orientation/scene_000292", + "seed": 152920001, + "shared_state": "wrong_orientation/scene_000292/shared_state.npz", + "video": "wrong_orientation/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000292/front.json", + "scene_id": "wrong_orientation/scene_000292", + "seed": 152920001, + "shared_state": "wrong_orientation/scene_000292/shared_state.npz", + "video": "wrong_orientation/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000292/right.json", + "scene_id": "wrong_orientation/scene_000292", + "seed": 152920001, + "shared_state": "wrong_orientation/scene_000292/shared_state.npz", + "video": "wrong_orientation/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000293/left.json", + "scene_id": "wrong_orientation/scene_000293", + "seed": 152930000, + "shared_state": "wrong_orientation/scene_000293/shared_state.npz", + "video": "wrong_orientation/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000293/front.json", + "scene_id": "wrong_orientation/scene_000293", + "seed": 152930000, + "shared_state": "wrong_orientation/scene_000293/shared_state.npz", + "video": "wrong_orientation/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000293/right.json", + "scene_id": "wrong_orientation/scene_000293", + "seed": 152930000, + "shared_state": "wrong_orientation/scene_000293/shared_state.npz", + "video": "wrong_orientation/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000294/left.json", + "scene_id": "wrong_orientation/scene_000294", + "seed": 152940000, + "shared_state": "wrong_orientation/scene_000294/shared_state.npz", + "video": "wrong_orientation/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000294/front.json", + "scene_id": "wrong_orientation/scene_000294", + "seed": 152940000, + "shared_state": "wrong_orientation/scene_000294/shared_state.npz", + "video": "wrong_orientation/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000294/right.json", + "scene_id": "wrong_orientation/scene_000294", + "seed": 152940000, + "shared_state": "wrong_orientation/scene_000294/shared_state.npz", + "video": "wrong_orientation/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000295/left.json", + "scene_id": "wrong_orientation/scene_000295", + "seed": 152950001, + "shared_state": "wrong_orientation/scene_000295/shared_state.npz", + "video": "wrong_orientation/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000295/front.json", + "scene_id": "wrong_orientation/scene_000295", + "seed": 152950001, + "shared_state": "wrong_orientation/scene_000295/shared_state.npz", + "video": "wrong_orientation/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000295/right.json", + "scene_id": "wrong_orientation/scene_000295", + "seed": 152950001, + "shared_state": "wrong_orientation/scene_000295/shared_state.npz", + "video": "wrong_orientation/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000296/left.json", + "scene_id": "wrong_orientation/scene_000296", + "seed": 152960001, + "shared_state": "wrong_orientation/scene_000296/shared_state.npz", + "video": "wrong_orientation/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000296/front.json", + "scene_id": "wrong_orientation/scene_000296", + "seed": 152960001, + "shared_state": "wrong_orientation/scene_000296/shared_state.npz", + "video": "wrong_orientation/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000296/right.json", + "scene_id": "wrong_orientation/scene_000296", + "seed": 152960001, + "shared_state": "wrong_orientation/scene_000296/shared_state.npz", + "video": "wrong_orientation/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000297/left.json", + "scene_id": "wrong_orientation/scene_000297", + "seed": 152970003, + "shared_state": "wrong_orientation/scene_000297/shared_state.npz", + "video": "wrong_orientation/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000297/front.json", + "scene_id": "wrong_orientation/scene_000297", + "seed": 152970003, + "shared_state": "wrong_orientation/scene_000297/shared_state.npz", + "video": "wrong_orientation/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000297/right.json", + "scene_id": "wrong_orientation/scene_000297", + "seed": 152970003, + "shared_state": "wrong_orientation/scene_000297/shared_state.npz", + "video": "wrong_orientation/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000298/left.json", + "scene_id": "wrong_orientation/scene_000298", + "seed": 152980000, + "shared_state": "wrong_orientation/scene_000298/shared_state.npz", + "video": "wrong_orientation/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000298/front.json", + "scene_id": "wrong_orientation/scene_000298", + "seed": 152980000, + "shared_state": "wrong_orientation/scene_000298/shared_state.npz", + "video": "wrong_orientation/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000298/right.json", + "scene_id": "wrong_orientation/scene_000298", + "seed": 152980000, + "shared_state": "wrong_orientation/scene_000298/shared_state.npz", + "video": "wrong_orientation/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000299/left.json", + "scene_id": "wrong_orientation/scene_000299", + "seed": 152990000, + "shared_state": "wrong_orientation/scene_000299/shared_state.npz", + "video": "wrong_orientation/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000299/front.json", + "scene_id": "wrong_orientation/scene_000299", + "seed": 152990000, + "shared_state": "wrong_orientation/scene_000299/shared_state.npz", + "video": "wrong_orientation/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "wrong_orientation", + "inherited": false, + "metadata": "wrong_orientation/scene_000299/right.json", + "scene_id": "wrong_orientation/scene_000299", + "seed": 152990000, + "shared_state": "wrong_orientation/scene_000299/shared_state.npz", + "video": "wrong_orientation/scene_000299/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000000/left.json", + "scene_id": "wrong_rack/scene_000000", + "seed": 26260909, + "shared_state": "wrong_rack/scene_000000/shared_state.npz", + "video": "wrong_rack/scene_000000/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000000/front.json", + "scene_id": "wrong_rack/scene_000000", + "seed": 26260909, + "shared_state": "wrong_rack/scene_000000/shared_state.npz", + "video": "wrong_rack/scene_000000/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000000/right.json", + "scene_id": "wrong_rack/scene_000000", + "seed": 26260909, + "shared_state": "wrong_rack/scene_000000/shared_state.npz", + "video": "wrong_rack/scene_000000/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000001/left.json", + "scene_id": "wrong_rack/scene_000001", + "seed": 26270909, + "shared_state": "wrong_rack/scene_000001/shared_state.npz", + "video": "wrong_rack/scene_000001/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000001/front.json", + "scene_id": "wrong_rack/scene_000001", + "seed": 26270909, + "shared_state": "wrong_rack/scene_000001/shared_state.npz", + "video": "wrong_rack/scene_000001/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000001/right.json", + "scene_id": "wrong_rack/scene_000001", + "seed": 26270909, + "shared_state": "wrong_rack/scene_000001/shared_state.npz", + "video": "wrong_rack/scene_000001/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000002/left.json", + "scene_id": "wrong_rack/scene_000002", + "seed": 26280909, + "shared_state": "wrong_rack/scene_000002/shared_state.npz", + "video": "wrong_rack/scene_000002/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000002/front.json", + "scene_id": "wrong_rack/scene_000002", + "seed": 26280909, + "shared_state": "wrong_rack/scene_000002/shared_state.npz", + "video": "wrong_rack/scene_000002/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000002/right.json", + "scene_id": "wrong_rack/scene_000002", + "seed": 26280909, + "shared_state": "wrong_rack/scene_000002/shared_state.npz", + "video": "wrong_rack/scene_000002/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000003/left.json", + "scene_id": "wrong_rack/scene_000003", + "seed": 26290909, + "shared_state": "wrong_rack/scene_000003/shared_state.npz", + "video": "wrong_rack/scene_000003/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000003/front.json", + "scene_id": "wrong_rack/scene_000003", + "seed": 26290909, + "shared_state": "wrong_rack/scene_000003/shared_state.npz", + "video": "wrong_rack/scene_000003/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000003/right.json", + "scene_id": "wrong_rack/scene_000003", + "seed": 26290909, + "shared_state": "wrong_rack/scene_000003/shared_state.npz", + "video": "wrong_rack/scene_000003/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000004/left.json", + "scene_id": "wrong_rack/scene_000004", + "seed": 26300911, + "shared_state": "wrong_rack/scene_000004/shared_state.npz", + "video": "wrong_rack/scene_000004/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000004/front.json", + "scene_id": "wrong_rack/scene_000004", + "seed": 26300911, + "shared_state": "wrong_rack/scene_000004/shared_state.npz", + "video": "wrong_rack/scene_000004/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000004/right.json", + "scene_id": "wrong_rack/scene_000004", + "seed": 26300911, + "shared_state": "wrong_rack/scene_000004/shared_state.npz", + "video": "wrong_rack/scene_000004/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000005/left.json", + "scene_id": "wrong_rack/scene_000005", + "seed": 26310909, + "shared_state": "wrong_rack/scene_000005/shared_state.npz", + "video": "wrong_rack/scene_000005/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000005/front.json", + "scene_id": "wrong_rack/scene_000005", + "seed": 26310909, + "shared_state": "wrong_rack/scene_000005/shared_state.npz", + "video": "wrong_rack/scene_000005/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000005/right.json", + "scene_id": "wrong_rack/scene_000005", + "seed": 26310909, + "shared_state": "wrong_rack/scene_000005/shared_state.npz", + "video": "wrong_rack/scene_000005/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000006/left.json", + "scene_id": "wrong_rack/scene_000006", + "seed": 26320909, + "shared_state": "wrong_rack/scene_000006/shared_state.npz", + "video": "wrong_rack/scene_000006/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000006/front.json", + "scene_id": "wrong_rack/scene_000006", + "seed": 26320909, + "shared_state": "wrong_rack/scene_000006/shared_state.npz", + "video": "wrong_rack/scene_000006/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000006/right.json", + "scene_id": "wrong_rack/scene_000006", + "seed": 26320909, + "shared_state": "wrong_rack/scene_000006/shared_state.npz", + "video": "wrong_rack/scene_000006/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000007/left.json", + "scene_id": "wrong_rack/scene_000007", + "seed": 26330909, + "shared_state": "wrong_rack/scene_000007/shared_state.npz", + "video": "wrong_rack/scene_000007/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000007/front.json", + "scene_id": "wrong_rack/scene_000007", + "seed": 26330909, + "shared_state": "wrong_rack/scene_000007/shared_state.npz", + "video": "wrong_rack/scene_000007/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000007/right.json", + "scene_id": "wrong_rack/scene_000007", + "seed": 26330909, + "shared_state": "wrong_rack/scene_000007/shared_state.npz", + "video": "wrong_rack/scene_000007/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000008/left.json", + "scene_id": "wrong_rack/scene_000008", + "seed": 26340909, + "shared_state": "wrong_rack/scene_000008/shared_state.npz", + "video": "wrong_rack/scene_000008/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000008/front.json", + "scene_id": "wrong_rack/scene_000008", + "seed": 26340909, + "shared_state": "wrong_rack/scene_000008/shared_state.npz", + "video": "wrong_rack/scene_000008/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000008/right.json", + "scene_id": "wrong_rack/scene_000008", + "seed": 26340909, + "shared_state": "wrong_rack/scene_000008/shared_state.npz", + "video": "wrong_rack/scene_000008/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000009/left.json", + "scene_id": "wrong_rack/scene_000009", + "seed": 26350909, + "shared_state": "wrong_rack/scene_000009/shared_state.npz", + "video": "wrong_rack/scene_000009/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000009/front.json", + "scene_id": "wrong_rack/scene_000009", + "seed": 26350909, + "shared_state": "wrong_rack/scene_000009/shared_state.npz", + "video": "wrong_rack/scene_000009/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000009/right.json", + "scene_id": "wrong_rack/scene_000009", + "seed": 26350909, + "shared_state": "wrong_rack/scene_000009/shared_state.npz", + "video": "wrong_rack/scene_000009/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000010/left.json", + "scene_id": "wrong_rack/scene_000010", + "seed": 26360909, + "shared_state": "wrong_rack/scene_000010/shared_state.npz", + "video": "wrong_rack/scene_000010/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000010/front.json", + "scene_id": "wrong_rack/scene_000010", + "seed": 26360909, + "shared_state": "wrong_rack/scene_000010/shared_state.npz", + "video": "wrong_rack/scene_000010/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000010/right.json", + "scene_id": "wrong_rack/scene_000010", + "seed": 26360909, + "shared_state": "wrong_rack/scene_000010/shared_state.npz", + "video": "wrong_rack/scene_000010/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000011/left.json", + "scene_id": "wrong_rack/scene_000011", + "seed": 26370909, + "shared_state": "wrong_rack/scene_000011/shared_state.npz", + "video": "wrong_rack/scene_000011/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000011/front.json", + "scene_id": "wrong_rack/scene_000011", + "seed": 26370909, + "shared_state": "wrong_rack/scene_000011/shared_state.npz", + "video": "wrong_rack/scene_000011/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000011/right.json", + "scene_id": "wrong_rack/scene_000011", + "seed": 26370909, + "shared_state": "wrong_rack/scene_000011/shared_state.npz", + "video": "wrong_rack/scene_000011/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000012/left.json", + "scene_id": "wrong_rack/scene_000012", + "seed": 26380910, + "shared_state": "wrong_rack/scene_000012/shared_state.npz", + "video": "wrong_rack/scene_000012/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000012/front.json", + "scene_id": "wrong_rack/scene_000012", + "seed": 26380910, + "shared_state": "wrong_rack/scene_000012/shared_state.npz", + "video": "wrong_rack/scene_000012/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000012/right.json", + "scene_id": "wrong_rack/scene_000012", + "seed": 26380910, + "shared_state": "wrong_rack/scene_000012/shared_state.npz", + "video": "wrong_rack/scene_000012/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000013/left.json", + "scene_id": "wrong_rack/scene_000013", + "seed": 26390909, + "shared_state": "wrong_rack/scene_000013/shared_state.npz", + "video": "wrong_rack/scene_000013/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000013/front.json", + "scene_id": "wrong_rack/scene_000013", + "seed": 26390909, + "shared_state": "wrong_rack/scene_000013/shared_state.npz", + "video": "wrong_rack/scene_000013/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000013/right.json", + "scene_id": "wrong_rack/scene_000013", + "seed": 26390909, + "shared_state": "wrong_rack/scene_000013/shared_state.npz", + "video": "wrong_rack/scene_000013/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000014/left.json", + "scene_id": "wrong_rack/scene_000014", + "seed": 26400910, + "shared_state": "wrong_rack/scene_000014/shared_state.npz", + "video": "wrong_rack/scene_000014/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000014/front.json", + "scene_id": "wrong_rack/scene_000014", + "seed": 26400910, + "shared_state": "wrong_rack/scene_000014/shared_state.npz", + "video": "wrong_rack/scene_000014/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000014/right.json", + "scene_id": "wrong_rack/scene_000014", + "seed": 26400910, + "shared_state": "wrong_rack/scene_000014/shared_state.npz", + "video": "wrong_rack/scene_000014/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000015/left.json", + "scene_id": "wrong_rack/scene_000015", + "seed": 26410909, + "shared_state": "wrong_rack/scene_000015/shared_state.npz", + "video": "wrong_rack/scene_000015/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000015/front.json", + "scene_id": "wrong_rack/scene_000015", + "seed": 26410909, + "shared_state": "wrong_rack/scene_000015/shared_state.npz", + "video": "wrong_rack/scene_000015/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000015/right.json", + "scene_id": "wrong_rack/scene_000015", + "seed": 26410909, + "shared_state": "wrong_rack/scene_000015/shared_state.npz", + "video": "wrong_rack/scene_000015/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000016/left.json", + "scene_id": "wrong_rack/scene_000016", + "seed": 26420910, + "shared_state": "wrong_rack/scene_000016/shared_state.npz", + "video": "wrong_rack/scene_000016/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000016/front.json", + "scene_id": "wrong_rack/scene_000016", + "seed": 26420910, + "shared_state": "wrong_rack/scene_000016/shared_state.npz", + "video": "wrong_rack/scene_000016/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000016/right.json", + "scene_id": "wrong_rack/scene_000016", + "seed": 26420910, + "shared_state": "wrong_rack/scene_000016/shared_state.npz", + "video": "wrong_rack/scene_000016/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000017/left.json", + "scene_id": "wrong_rack/scene_000017", + "seed": 26430909, + "shared_state": "wrong_rack/scene_000017/shared_state.npz", + "video": "wrong_rack/scene_000017/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000017/front.json", + "scene_id": "wrong_rack/scene_000017", + "seed": 26430909, + "shared_state": "wrong_rack/scene_000017/shared_state.npz", + "video": "wrong_rack/scene_000017/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000017/right.json", + "scene_id": "wrong_rack/scene_000017", + "seed": 26430909, + "shared_state": "wrong_rack/scene_000017/shared_state.npz", + "video": "wrong_rack/scene_000017/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000018/left.json", + "scene_id": "wrong_rack/scene_000018", + "seed": 26440909, + "shared_state": "wrong_rack/scene_000018/shared_state.npz", + "video": "wrong_rack/scene_000018/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000018/front.json", + "scene_id": "wrong_rack/scene_000018", + "seed": 26440909, + "shared_state": "wrong_rack/scene_000018/shared_state.npz", + "video": "wrong_rack/scene_000018/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000018/right.json", + "scene_id": "wrong_rack/scene_000018", + "seed": 26440909, + "shared_state": "wrong_rack/scene_000018/shared_state.npz", + "video": "wrong_rack/scene_000018/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000019/left.json", + "scene_id": "wrong_rack/scene_000019", + "seed": 26450909, + "shared_state": "wrong_rack/scene_000019/shared_state.npz", + "video": "wrong_rack/scene_000019/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000019/front.json", + "scene_id": "wrong_rack/scene_000019", + "seed": 26450909, + "shared_state": "wrong_rack/scene_000019/shared_state.npz", + "video": "wrong_rack/scene_000019/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000019/right.json", + "scene_id": "wrong_rack/scene_000019", + "seed": 26450909, + "shared_state": "wrong_rack/scene_000019/shared_state.npz", + "video": "wrong_rack/scene_000019/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000020/left.json", + "scene_id": "wrong_rack/scene_000020", + "seed": 26460910, + "shared_state": "wrong_rack/scene_000020/shared_state.npz", + "video": "wrong_rack/scene_000020/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000020/front.json", + "scene_id": "wrong_rack/scene_000020", + "seed": 26460910, + "shared_state": "wrong_rack/scene_000020/shared_state.npz", + "video": "wrong_rack/scene_000020/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000020/right.json", + "scene_id": "wrong_rack/scene_000020", + "seed": 26460910, + "shared_state": "wrong_rack/scene_000020/shared_state.npz", + "video": "wrong_rack/scene_000020/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000021/left.json", + "scene_id": "wrong_rack/scene_000021", + "seed": 26470909, + "shared_state": "wrong_rack/scene_000021/shared_state.npz", + "video": "wrong_rack/scene_000021/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000021/front.json", + "scene_id": "wrong_rack/scene_000021", + "seed": 26470909, + "shared_state": "wrong_rack/scene_000021/shared_state.npz", + "video": "wrong_rack/scene_000021/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000021/right.json", + "scene_id": "wrong_rack/scene_000021", + "seed": 26470909, + "shared_state": "wrong_rack/scene_000021/shared_state.npz", + "video": "wrong_rack/scene_000021/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000022/left.json", + "scene_id": "wrong_rack/scene_000022", + "seed": 26480910, + "shared_state": "wrong_rack/scene_000022/shared_state.npz", + "video": "wrong_rack/scene_000022/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000022/front.json", + "scene_id": "wrong_rack/scene_000022", + "seed": 26480910, + "shared_state": "wrong_rack/scene_000022/shared_state.npz", + "video": "wrong_rack/scene_000022/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000022/right.json", + "scene_id": "wrong_rack/scene_000022", + "seed": 26480910, + "shared_state": "wrong_rack/scene_000022/shared_state.npz", + "video": "wrong_rack/scene_000022/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000023/left.json", + "scene_id": "wrong_rack/scene_000023", + "seed": 26490909, + "shared_state": "wrong_rack/scene_000023/shared_state.npz", + "video": "wrong_rack/scene_000023/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000023/front.json", + "scene_id": "wrong_rack/scene_000023", + "seed": 26490909, + "shared_state": "wrong_rack/scene_000023/shared_state.npz", + "video": "wrong_rack/scene_000023/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000023/right.json", + "scene_id": "wrong_rack/scene_000023", + "seed": 26490909, + "shared_state": "wrong_rack/scene_000023/shared_state.npz", + "video": "wrong_rack/scene_000023/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000024/left.json", + "scene_id": "wrong_rack/scene_000024", + "seed": 26500912, + "shared_state": "wrong_rack/scene_000024/shared_state.npz", + "video": "wrong_rack/scene_000024/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000024/front.json", + "scene_id": "wrong_rack/scene_000024", + "seed": 26500912, + "shared_state": "wrong_rack/scene_000024/shared_state.npz", + "video": "wrong_rack/scene_000024/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000024/right.json", + "scene_id": "wrong_rack/scene_000024", + "seed": 26500912, + "shared_state": "wrong_rack/scene_000024/shared_state.npz", + "video": "wrong_rack/scene_000024/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000025/left.json", + "scene_id": "wrong_rack/scene_000025", + "seed": 26510909, + "shared_state": "wrong_rack/scene_000025/shared_state.npz", + "video": "wrong_rack/scene_000025/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000025/front.json", + "scene_id": "wrong_rack/scene_000025", + "seed": 26510909, + "shared_state": "wrong_rack/scene_000025/shared_state.npz", + "video": "wrong_rack/scene_000025/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000025/right.json", + "scene_id": "wrong_rack/scene_000025", + "seed": 26510909, + "shared_state": "wrong_rack/scene_000025/shared_state.npz", + "video": "wrong_rack/scene_000025/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000026/left.json", + "scene_id": "wrong_rack/scene_000026", + "seed": 26520910, + "shared_state": "wrong_rack/scene_000026/shared_state.npz", + "video": "wrong_rack/scene_000026/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000026/front.json", + "scene_id": "wrong_rack/scene_000026", + "seed": 26520910, + "shared_state": "wrong_rack/scene_000026/shared_state.npz", + "video": "wrong_rack/scene_000026/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000026/right.json", + "scene_id": "wrong_rack/scene_000026", + "seed": 26520910, + "shared_state": "wrong_rack/scene_000026/shared_state.npz", + "video": "wrong_rack/scene_000026/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000027/left.json", + "scene_id": "wrong_rack/scene_000027", + "seed": 26530910, + "shared_state": "wrong_rack/scene_000027/shared_state.npz", + "video": "wrong_rack/scene_000027/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000027/front.json", + "scene_id": "wrong_rack/scene_000027", + "seed": 26530910, + "shared_state": "wrong_rack/scene_000027/shared_state.npz", + "video": "wrong_rack/scene_000027/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000027/right.json", + "scene_id": "wrong_rack/scene_000027", + "seed": 26530910, + "shared_state": "wrong_rack/scene_000027/shared_state.npz", + "video": "wrong_rack/scene_000027/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000028/left.json", + "scene_id": "wrong_rack/scene_000028", + "seed": 26540912, + "shared_state": "wrong_rack/scene_000028/shared_state.npz", + "video": "wrong_rack/scene_000028/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000028/front.json", + "scene_id": "wrong_rack/scene_000028", + "seed": 26540912, + "shared_state": "wrong_rack/scene_000028/shared_state.npz", + "video": "wrong_rack/scene_000028/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000028/right.json", + "scene_id": "wrong_rack/scene_000028", + "seed": 26540912, + "shared_state": "wrong_rack/scene_000028/shared_state.npz", + "video": "wrong_rack/scene_000028/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000029/left.json", + "scene_id": "wrong_rack/scene_000029", + "seed": 26550909, + "shared_state": "wrong_rack/scene_000029/shared_state.npz", + "video": "wrong_rack/scene_000029/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000029/front.json", + "scene_id": "wrong_rack/scene_000029", + "seed": 26550909, + "shared_state": "wrong_rack/scene_000029/shared_state.npz", + "video": "wrong_rack/scene_000029/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000029/right.json", + "scene_id": "wrong_rack/scene_000029", + "seed": 26550909, + "shared_state": "wrong_rack/scene_000029/shared_state.npz", + "video": "wrong_rack/scene_000029/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000030/left.json", + "scene_id": "wrong_rack/scene_000030", + "seed": 26560910, + "shared_state": "wrong_rack/scene_000030/shared_state.npz", + "video": "wrong_rack/scene_000030/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000030/front.json", + "scene_id": "wrong_rack/scene_000030", + "seed": 26560910, + "shared_state": "wrong_rack/scene_000030/shared_state.npz", + "video": "wrong_rack/scene_000030/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000030/right.json", + "scene_id": "wrong_rack/scene_000030", + "seed": 26560910, + "shared_state": "wrong_rack/scene_000030/shared_state.npz", + "video": "wrong_rack/scene_000030/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000031/left.json", + "scene_id": "wrong_rack/scene_000031", + "seed": 26570909, + "shared_state": "wrong_rack/scene_000031/shared_state.npz", + "video": "wrong_rack/scene_000031/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000031/front.json", + "scene_id": "wrong_rack/scene_000031", + "seed": 26570909, + "shared_state": "wrong_rack/scene_000031/shared_state.npz", + "video": "wrong_rack/scene_000031/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000031/right.json", + "scene_id": "wrong_rack/scene_000031", + "seed": 26570909, + "shared_state": "wrong_rack/scene_000031/shared_state.npz", + "video": "wrong_rack/scene_000031/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000032/left.json", + "scene_id": "wrong_rack/scene_000032", + "seed": 26580909, + "shared_state": "wrong_rack/scene_000032/shared_state.npz", + "video": "wrong_rack/scene_000032/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000032/front.json", + "scene_id": "wrong_rack/scene_000032", + "seed": 26580909, + "shared_state": "wrong_rack/scene_000032/shared_state.npz", + "video": "wrong_rack/scene_000032/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000032/right.json", + "scene_id": "wrong_rack/scene_000032", + "seed": 26580909, + "shared_state": "wrong_rack/scene_000032/shared_state.npz", + "video": "wrong_rack/scene_000032/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000033/left.json", + "scene_id": "wrong_rack/scene_000033", + "seed": 26590911, + "shared_state": "wrong_rack/scene_000033/shared_state.npz", + "video": "wrong_rack/scene_000033/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000033/front.json", + "scene_id": "wrong_rack/scene_000033", + "seed": 26590911, + "shared_state": "wrong_rack/scene_000033/shared_state.npz", + "video": "wrong_rack/scene_000033/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000033/right.json", + "scene_id": "wrong_rack/scene_000033", + "seed": 26590911, + "shared_state": "wrong_rack/scene_000033/shared_state.npz", + "video": "wrong_rack/scene_000033/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000034/left.json", + "scene_id": "wrong_rack/scene_000034", + "seed": 26600910, + "shared_state": "wrong_rack/scene_000034/shared_state.npz", + "video": "wrong_rack/scene_000034/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000034/front.json", + "scene_id": "wrong_rack/scene_000034", + "seed": 26600910, + "shared_state": "wrong_rack/scene_000034/shared_state.npz", + "video": "wrong_rack/scene_000034/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000034/right.json", + "scene_id": "wrong_rack/scene_000034", + "seed": 26600910, + "shared_state": "wrong_rack/scene_000034/shared_state.npz", + "video": "wrong_rack/scene_000034/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000035/left.json", + "scene_id": "wrong_rack/scene_000035", + "seed": 26610909, + "shared_state": "wrong_rack/scene_000035/shared_state.npz", + "video": "wrong_rack/scene_000035/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000035/front.json", + "scene_id": "wrong_rack/scene_000035", + "seed": 26610909, + "shared_state": "wrong_rack/scene_000035/shared_state.npz", + "video": "wrong_rack/scene_000035/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000035/right.json", + "scene_id": "wrong_rack/scene_000035", + "seed": 26610909, + "shared_state": "wrong_rack/scene_000035/shared_state.npz", + "video": "wrong_rack/scene_000035/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000036/left.json", + "scene_id": "wrong_rack/scene_000036", + "seed": 26620910, + "shared_state": "wrong_rack/scene_000036/shared_state.npz", + "video": "wrong_rack/scene_000036/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000036/front.json", + "scene_id": "wrong_rack/scene_000036", + "seed": 26620910, + "shared_state": "wrong_rack/scene_000036/shared_state.npz", + "video": "wrong_rack/scene_000036/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000036/right.json", + "scene_id": "wrong_rack/scene_000036", + "seed": 26620910, + "shared_state": "wrong_rack/scene_000036/shared_state.npz", + "video": "wrong_rack/scene_000036/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000037/left.json", + "scene_id": "wrong_rack/scene_000037", + "seed": 26630910, + "shared_state": "wrong_rack/scene_000037/shared_state.npz", + "video": "wrong_rack/scene_000037/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000037/front.json", + "scene_id": "wrong_rack/scene_000037", + "seed": 26630910, + "shared_state": "wrong_rack/scene_000037/shared_state.npz", + "video": "wrong_rack/scene_000037/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000037/right.json", + "scene_id": "wrong_rack/scene_000037", + "seed": 26630910, + "shared_state": "wrong_rack/scene_000037/shared_state.npz", + "video": "wrong_rack/scene_000037/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000038/left.json", + "scene_id": "wrong_rack/scene_000038", + "seed": 26640909, + "shared_state": "wrong_rack/scene_000038/shared_state.npz", + "video": "wrong_rack/scene_000038/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000038/front.json", + "scene_id": "wrong_rack/scene_000038", + "seed": 26640909, + "shared_state": "wrong_rack/scene_000038/shared_state.npz", + "video": "wrong_rack/scene_000038/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000038/right.json", + "scene_id": "wrong_rack/scene_000038", + "seed": 26640909, + "shared_state": "wrong_rack/scene_000038/shared_state.npz", + "video": "wrong_rack/scene_000038/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000039/left.json", + "scene_id": "wrong_rack/scene_000039", + "seed": 26650909, + "shared_state": "wrong_rack/scene_000039/shared_state.npz", + "video": "wrong_rack/scene_000039/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000039/front.json", + "scene_id": "wrong_rack/scene_000039", + "seed": 26650909, + "shared_state": "wrong_rack/scene_000039/shared_state.npz", + "video": "wrong_rack/scene_000039/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000039/right.json", + "scene_id": "wrong_rack/scene_000039", + "seed": 26650909, + "shared_state": "wrong_rack/scene_000039/shared_state.npz", + "video": "wrong_rack/scene_000039/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000040/left.json", + "scene_id": "wrong_rack/scene_000040", + "seed": 26660909, + "shared_state": "wrong_rack/scene_000040/shared_state.npz", + "video": "wrong_rack/scene_000040/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000040/front.json", + "scene_id": "wrong_rack/scene_000040", + "seed": 26660909, + "shared_state": "wrong_rack/scene_000040/shared_state.npz", + "video": "wrong_rack/scene_000040/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000040/right.json", + "scene_id": "wrong_rack/scene_000040", + "seed": 26660909, + "shared_state": "wrong_rack/scene_000040/shared_state.npz", + "video": "wrong_rack/scene_000040/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000041/left.json", + "scene_id": "wrong_rack/scene_000041", + "seed": 26670909, + "shared_state": "wrong_rack/scene_000041/shared_state.npz", + "video": "wrong_rack/scene_000041/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000041/front.json", + "scene_id": "wrong_rack/scene_000041", + "seed": 26670909, + "shared_state": "wrong_rack/scene_000041/shared_state.npz", + "video": "wrong_rack/scene_000041/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000041/right.json", + "scene_id": "wrong_rack/scene_000041", + "seed": 26670909, + "shared_state": "wrong_rack/scene_000041/shared_state.npz", + "video": "wrong_rack/scene_000041/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000042/left.json", + "scene_id": "wrong_rack/scene_000042", + "seed": 26680909, + "shared_state": "wrong_rack/scene_000042/shared_state.npz", + "video": "wrong_rack/scene_000042/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000042/front.json", + "scene_id": "wrong_rack/scene_000042", + "seed": 26680909, + "shared_state": "wrong_rack/scene_000042/shared_state.npz", + "video": "wrong_rack/scene_000042/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000042/right.json", + "scene_id": "wrong_rack/scene_000042", + "seed": 26680909, + "shared_state": "wrong_rack/scene_000042/shared_state.npz", + "video": "wrong_rack/scene_000042/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000043/left.json", + "scene_id": "wrong_rack/scene_000043", + "seed": 26690911, + "shared_state": "wrong_rack/scene_000043/shared_state.npz", + "video": "wrong_rack/scene_000043/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000043/front.json", + "scene_id": "wrong_rack/scene_000043", + "seed": 26690911, + "shared_state": "wrong_rack/scene_000043/shared_state.npz", + "video": "wrong_rack/scene_000043/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000043/right.json", + "scene_id": "wrong_rack/scene_000043", + "seed": 26690911, + "shared_state": "wrong_rack/scene_000043/shared_state.npz", + "video": "wrong_rack/scene_000043/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000044/left.json", + "scene_id": "wrong_rack/scene_000044", + "seed": 26700910, + "shared_state": "wrong_rack/scene_000044/shared_state.npz", + "video": "wrong_rack/scene_000044/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000044/front.json", + "scene_id": "wrong_rack/scene_000044", + "seed": 26700910, + "shared_state": "wrong_rack/scene_000044/shared_state.npz", + "video": "wrong_rack/scene_000044/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000044/right.json", + "scene_id": "wrong_rack/scene_000044", + "seed": 26700910, + "shared_state": "wrong_rack/scene_000044/shared_state.npz", + "video": "wrong_rack/scene_000044/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000045/left.json", + "scene_id": "wrong_rack/scene_000045", + "seed": 26710911, + "shared_state": "wrong_rack/scene_000045/shared_state.npz", + "video": "wrong_rack/scene_000045/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000045/front.json", + "scene_id": "wrong_rack/scene_000045", + "seed": 26710911, + "shared_state": "wrong_rack/scene_000045/shared_state.npz", + "video": "wrong_rack/scene_000045/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000045/right.json", + "scene_id": "wrong_rack/scene_000045", + "seed": 26710911, + "shared_state": "wrong_rack/scene_000045/shared_state.npz", + "video": "wrong_rack/scene_000045/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000046/left.json", + "scene_id": "wrong_rack/scene_000046", + "seed": 26720909, + "shared_state": "wrong_rack/scene_000046/shared_state.npz", + "video": "wrong_rack/scene_000046/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000046/front.json", + "scene_id": "wrong_rack/scene_000046", + "seed": 26720909, + "shared_state": "wrong_rack/scene_000046/shared_state.npz", + "video": "wrong_rack/scene_000046/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000046/right.json", + "scene_id": "wrong_rack/scene_000046", + "seed": 26720909, + "shared_state": "wrong_rack/scene_000046/shared_state.npz", + "video": "wrong_rack/scene_000046/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000047/left.json", + "scene_id": "wrong_rack/scene_000047", + "seed": 26730909, + "shared_state": "wrong_rack/scene_000047/shared_state.npz", + "video": "wrong_rack/scene_000047/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000047/front.json", + "scene_id": "wrong_rack/scene_000047", + "seed": 26730909, + "shared_state": "wrong_rack/scene_000047/shared_state.npz", + "video": "wrong_rack/scene_000047/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000047/right.json", + "scene_id": "wrong_rack/scene_000047", + "seed": 26730909, + "shared_state": "wrong_rack/scene_000047/shared_state.npz", + "video": "wrong_rack/scene_000047/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000048/left.json", + "scene_id": "wrong_rack/scene_000048", + "seed": 26740909, + "shared_state": "wrong_rack/scene_000048/shared_state.npz", + "video": "wrong_rack/scene_000048/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000048/front.json", + "scene_id": "wrong_rack/scene_000048", + "seed": 26740909, + "shared_state": "wrong_rack/scene_000048/shared_state.npz", + "video": "wrong_rack/scene_000048/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000048/right.json", + "scene_id": "wrong_rack/scene_000048", + "seed": 26740909, + "shared_state": "wrong_rack/scene_000048/shared_state.npz", + "video": "wrong_rack/scene_000048/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000049/left.json", + "scene_id": "wrong_rack/scene_000049", + "seed": 26750909, + "shared_state": "wrong_rack/scene_000049/shared_state.npz", + "video": "wrong_rack/scene_000049/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000049/front.json", + "scene_id": "wrong_rack/scene_000049", + "seed": 26750909, + "shared_state": "wrong_rack/scene_000049/shared_state.npz", + "video": "wrong_rack/scene_000049/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000049/right.json", + "scene_id": "wrong_rack/scene_000049", + "seed": 26750909, + "shared_state": "wrong_rack/scene_000049/shared_state.npz", + "video": "wrong_rack/scene_000049/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000050/left.json", + "scene_id": "wrong_rack/scene_000050", + "seed": 26760909, + "shared_state": "wrong_rack/scene_000050/shared_state.npz", + "video": "wrong_rack/scene_000050/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000050/front.json", + "scene_id": "wrong_rack/scene_000050", + "seed": 26760909, + "shared_state": "wrong_rack/scene_000050/shared_state.npz", + "video": "wrong_rack/scene_000050/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000050/right.json", + "scene_id": "wrong_rack/scene_000050", + "seed": 26760909, + "shared_state": "wrong_rack/scene_000050/shared_state.npz", + "video": "wrong_rack/scene_000050/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000051/left.json", + "scene_id": "wrong_rack/scene_000051", + "seed": 26770909, + "shared_state": "wrong_rack/scene_000051/shared_state.npz", + "video": "wrong_rack/scene_000051/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000051/front.json", + "scene_id": "wrong_rack/scene_000051", + "seed": 26770909, + "shared_state": "wrong_rack/scene_000051/shared_state.npz", + "video": "wrong_rack/scene_000051/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000051/right.json", + "scene_id": "wrong_rack/scene_000051", + "seed": 26770909, + "shared_state": "wrong_rack/scene_000051/shared_state.npz", + "video": "wrong_rack/scene_000051/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000052/left.json", + "scene_id": "wrong_rack/scene_000052", + "seed": 26780909, + "shared_state": "wrong_rack/scene_000052/shared_state.npz", + "video": "wrong_rack/scene_000052/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000052/front.json", + "scene_id": "wrong_rack/scene_000052", + "seed": 26780909, + "shared_state": "wrong_rack/scene_000052/shared_state.npz", + "video": "wrong_rack/scene_000052/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000052/right.json", + "scene_id": "wrong_rack/scene_000052", + "seed": 26780909, + "shared_state": "wrong_rack/scene_000052/shared_state.npz", + "video": "wrong_rack/scene_000052/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000053/left.json", + "scene_id": "wrong_rack/scene_000053", + "seed": 26790909, + "shared_state": "wrong_rack/scene_000053/shared_state.npz", + "video": "wrong_rack/scene_000053/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000053/front.json", + "scene_id": "wrong_rack/scene_000053", + "seed": 26790909, + "shared_state": "wrong_rack/scene_000053/shared_state.npz", + "video": "wrong_rack/scene_000053/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000053/right.json", + "scene_id": "wrong_rack/scene_000053", + "seed": 26790909, + "shared_state": "wrong_rack/scene_000053/shared_state.npz", + "video": "wrong_rack/scene_000053/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000054/left.json", + "scene_id": "wrong_rack/scene_000054", + "seed": 26800909, + "shared_state": "wrong_rack/scene_000054/shared_state.npz", + "video": "wrong_rack/scene_000054/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000054/front.json", + "scene_id": "wrong_rack/scene_000054", + "seed": 26800909, + "shared_state": "wrong_rack/scene_000054/shared_state.npz", + "video": "wrong_rack/scene_000054/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000054/right.json", + "scene_id": "wrong_rack/scene_000054", + "seed": 26800909, + "shared_state": "wrong_rack/scene_000054/shared_state.npz", + "video": "wrong_rack/scene_000054/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000055/left.json", + "scene_id": "wrong_rack/scene_000055", + "seed": 26810911, + "shared_state": "wrong_rack/scene_000055/shared_state.npz", + "video": "wrong_rack/scene_000055/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000055/front.json", + "scene_id": "wrong_rack/scene_000055", + "seed": 26810911, + "shared_state": "wrong_rack/scene_000055/shared_state.npz", + "video": "wrong_rack/scene_000055/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000055/right.json", + "scene_id": "wrong_rack/scene_000055", + "seed": 26810911, + "shared_state": "wrong_rack/scene_000055/shared_state.npz", + "video": "wrong_rack/scene_000055/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000056/left.json", + "scene_id": "wrong_rack/scene_000056", + "seed": 26820910, + "shared_state": "wrong_rack/scene_000056/shared_state.npz", + "video": "wrong_rack/scene_000056/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000056/front.json", + "scene_id": "wrong_rack/scene_000056", + "seed": 26820910, + "shared_state": "wrong_rack/scene_000056/shared_state.npz", + "video": "wrong_rack/scene_000056/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000056/right.json", + "scene_id": "wrong_rack/scene_000056", + "seed": 26820910, + "shared_state": "wrong_rack/scene_000056/shared_state.npz", + "video": "wrong_rack/scene_000056/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000057/left.json", + "scene_id": "wrong_rack/scene_000057", + "seed": 26830910, + "shared_state": "wrong_rack/scene_000057/shared_state.npz", + "video": "wrong_rack/scene_000057/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000057/front.json", + "scene_id": "wrong_rack/scene_000057", + "seed": 26830910, + "shared_state": "wrong_rack/scene_000057/shared_state.npz", + "video": "wrong_rack/scene_000057/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000057/right.json", + "scene_id": "wrong_rack/scene_000057", + "seed": 26830910, + "shared_state": "wrong_rack/scene_000057/shared_state.npz", + "video": "wrong_rack/scene_000057/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000058/left.json", + "scene_id": "wrong_rack/scene_000058", + "seed": 26840909, + "shared_state": "wrong_rack/scene_000058/shared_state.npz", + "video": "wrong_rack/scene_000058/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000058/front.json", + "scene_id": "wrong_rack/scene_000058", + "seed": 26840909, + "shared_state": "wrong_rack/scene_000058/shared_state.npz", + "video": "wrong_rack/scene_000058/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000058/right.json", + "scene_id": "wrong_rack/scene_000058", + "seed": 26840909, + "shared_state": "wrong_rack/scene_000058/shared_state.npz", + "video": "wrong_rack/scene_000058/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000059/left.json", + "scene_id": "wrong_rack/scene_000059", + "seed": 26850909, + "shared_state": "wrong_rack/scene_000059/shared_state.npz", + "video": "wrong_rack/scene_000059/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000059/front.json", + "scene_id": "wrong_rack/scene_000059", + "seed": 26850909, + "shared_state": "wrong_rack/scene_000059/shared_state.npz", + "video": "wrong_rack/scene_000059/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000059/right.json", + "scene_id": "wrong_rack/scene_000059", + "seed": 26850909, + "shared_state": "wrong_rack/scene_000059/shared_state.npz", + "video": "wrong_rack/scene_000059/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000060/left.json", + "scene_id": "wrong_rack/scene_000060", + "seed": 26860909, + "shared_state": "wrong_rack/scene_000060/shared_state.npz", + "video": "wrong_rack/scene_000060/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000060/front.json", + "scene_id": "wrong_rack/scene_000060", + "seed": 26860909, + "shared_state": "wrong_rack/scene_000060/shared_state.npz", + "video": "wrong_rack/scene_000060/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000060/right.json", + "scene_id": "wrong_rack/scene_000060", + "seed": 26860909, + "shared_state": "wrong_rack/scene_000060/shared_state.npz", + "video": "wrong_rack/scene_000060/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000061/left.json", + "scene_id": "wrong_rack/scene_000061", + "seed": 26870911, + "shared_state": "wrong_rack/scene_000061/shared_state.npz", + "video": "wrong_rack/scene_000061/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000061/front.json", + "scene_id": "wrong_rack/scene_000061", + "seed": 26870911, + "shared_state": "wrong_rack/scene_000061/shared_state.npz", + "video": "wrong_rack/scene_000061/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000061/right.json", + "scene_id": "wrong_rack/scene_000061", + "seed": 26870911, + "shared_state": "wrong_rack/scene_000061/shared_state.npz", + "video": "wrong_rack/scene_000061/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000062/left.json", + "scene_id": "wrong_rack/scene_000062", + "seed": 26880909, + "shared_state": "wrong_rack/scene_000062/shared_state.npz", + "video": "wrong_rack/scene_000062/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000062/front.json", + "scene_id": "wrong_rack/scene_000062", + "seed": 26880909, + "shared_state": "wrong_rack/scene_000062/shared_state.npz", + "video": "wrong_rack/scene_000062/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000062/right.json", + "scene_id": "wrong_rack/scene_000062", + "seed": 26880909, + "shared_state": "wrong_rack/scene_000062/shared_state.npz", + "video": "wrong_rack/scene_000062/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000063/left.json", + "scene_id": "wrong_rack/scene_000063", + "seed": 26890909, + "shared_state": "wrong_rack/scene_000063/shared_state.npz", + "video": "wrong_rack/scene_000063/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000063/front.json", + "scene_id": "wrong_rack/scene_000063", + "seed": 26890909, + "shared_state": "wrong_rack/scene_000063/shared_state.npz", + "video": "wrong_rack/scene_000063/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000063/right.json", + "scene_id": "wrong_rack/scene_000063", + "seed": 26890909, + "shared_state": "wrong_rack/scene_000063/shared_state.npz", + "video": "wrong_rack/scene_000063/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000064/left.json", + "scene_id": "wrong_rack/scene_000064", + "seed": 26900909, + "shared_state": "wrong_rack/scene_000064/shared_state.npz", + "video": "wrong_rack/scene_000064/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000064/front.json", + "scene_id": "wrong_rack/scene_000064", + "seed": 26900909, + "shared_state": "wrong_rack/scene_000064/shared_state.npz", + "video": "wrong_rack/scene_000064/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000064/right.json", + "scene_id": "wrong_rack/scene_000064", + "seed": 26900909, + "shared_state": "wrong_rack/scene_000064/shared_state.npz", + "video": "wrong_rack/scene_000064/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000065/left.json", + "scene_id": "wrong_rack/scene_000065", + "seed": 26910909, + "shared_state": "wrong_rack/scene_000065/shared_state.npz", + "video": "wrong_rack/scene_000065/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000065/front.json", + "scene_id": "wrong_rack/scene_000065", + "seed": 26910909, + "shared_state": "wrong_rack/scene_000065/shared_state.npz", + "video": "wrong_rack/scene_000065/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000065/right.json", + "scene_id": "wrong_rack/scene_000065", + "seed": 26910909, + "shared_state": "wrong_rack/scene_000065/shared_state.npz", + "video": "wrong_rack/scene_000065/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000066/left.json", + "scene_id": "wrong_rack/scene_000066", + "seed": 26920909, + "shared_state": "wrong_rack/scene_000066/shared_state.npz", + "video": "wrong_rack/scene_000066/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000066/front.json", + "scene_id": "wrong_rack/scene_000066", + "seed": 26920909, + "shared_state": "wrong_rack/scene_000066/shared_state.npz", + "video": "wrong_rack/scene_000066/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000066/right.json", + "scene_id": "wrong_rack/scene_000066", + "seed": 26920909, + "shared_state": "wrong_rack/scene_000066/shared_state.npz", + "video": "wrong_rack/scene_000066/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000067/left.json", + "scene_id": "wrong_rack/scene_000067", + "seed": 26930909, + "shared_state": "wrong_rack/scene_000067/shared_state.npz", + "video": "wrong_rack/scene_000067/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000067/front.json", + "scene_id": "wrong_rack/scene_000067", + "seed": 26930909, + "shared_state": "wrong_rack/scene_000067/shared_state.npz", + "video": "wrong_rack/scene_000067/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000067/right.json", + "scene_id": "wrong_rack/scene_000067", + "seed": 26930909, + "shared_state": "wrong_rack/scene_000067/shared_state.npz", + "video": "wrong_rack/scene_000067/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000068/left.json", + "scene_id": "wrong_rack/scene_000068", + "seed": 26940909, + "shared_state": "wrong_rack/scene_000068/shared_state.npz", + "video": "wrong_rack/scene_000068/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000068/front.json", + "scene_id": "wrong_rack/scene_000068", + "seed": 26940909, + "shared_state": "wrong_rack/scene_000068/shared_state.npz", + "video": "wrong_rack/scene_000068/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000068/right.json", + "scene_id": "wrong_rack/scene_000068", + "seed": 26940909, + "shared_state": "wrong_rack/scene_000068/shared_state.npz", + "video": "wrong_rack/scene_000068/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000069/left.json", + "scene_id": "wrong_rack/scene_000069", + "seed": 26950909, + "shared_state": "wrong_rack/scene_000069/shared_state.npz", + "video": "wrong_rack/scene_000069/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000069/front.json", + "scene_id": "wrong_rack/scene_000069", + "seed": 26950909, + "shared_state": "wrong_rack/scene_000069/shared_state.npz", + "video": "wrong_rack/scene_000069/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000069/right.json", + "scene_id": "wrong_rack/scene_000069", + "seed": 26950909, + "shared_state": "wrong_rack/scene_000069/shared_state.npz", + "video": "wrong_rack/scene_000069/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000070/left.json", + "scene_id": "wrong_rack/scene_000070", + "seed": 26960910, + "shared_state": "wrong_rack/scene_000070/shared_state.npz", + "video": "wrong_rack/scene_000070/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000070/front.json", + "scene_id": "wrong_rack/scene_000070", + "seed": 26960910, + "shared_state": "wrong_rack/scene_000070/shared_state.npz", + "video": "wrong_rack/scene_000070/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000070/right.json", + "scene_id": "wrong_rack/scene_000070", + "seed": 26960910, + "shared_state": "wrong_rack/scene_000070/shared_state.npz", + "video": "wrong_rack/scene_000070/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000071/left.json", + "scene_id": "wrong_rack/scene_000071", + "seed": 26970909, + "shared_state": "wrong_rack/scene_000071/shared_state.npz", + "video": "wrong_rack/scene_000071/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000071/front.json", + "scene_id": "wrong_rack/scene_000071", + "seed": 26970909, + "shared_state": "wrong_rack/scene_000071/shared_state.npz", + "video": "wrong_rack/scene_000071/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000071/right.json", + "scene_id": "wrong_rack/scene_000071", + "seed": 26970909, + "shared_state": "wrong_rack/scene_000071/shared_state.npz", + "video": "wrong_rack/scene_000071/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000072/left.json", + "scene_id": "wrong_rack/scene_000072", + "seed": 26980909, + "shared_state": "wrong_rack/scene_000072/shared_state.npz", + "video": "wrong_rack/scene_000072/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000072/front.json", + "scene_id": "wrong_rack/scene_000072", + "seed": 26980909, + "shared_state": "wrong_rack/scene_000072/shared_state.npz", + "video": "wrong_rack/scene_000072/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000072/right.json", + "scene_id": "wrong_rack/scene_000072", + "seed": 26980909, + "shared_state": "wrong_rack/scene_000072/shared_state.npz", + "video": "wrong_rack/scene_000072/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000073/left.json", + "scene_id": "wrong_rack/scene_000073", + "seed": 26990911, + "shared_state": "wrong_rack/scene_000073/shared_state.npz", + "video": "wrong_rack/scene_000073/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000073/front.json", + "scene_id": "wrong_rack/scene_000073", + "seed": 26990911, + "shared_state": "wrong_rack/scene_000073/shared_state.npz", + "video": "wrong_rack/scene_000073/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000073/right.json", + "scene_id": "wrong_rack/scene_000073", + "seed": 26990911, + "shared_state": "wrong_rack/scene_000073/shared_state.npz", + "video": "wrong_rack/scene_000073/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000074/left.json", + "scene_id": "wrong_rack/scene_000074", + "seed": 27000909, + "shared_state": "wrong_rack/scene_000074/shared_state.npz", + "video": "wrong_rack/scene_000074/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000074/front.json", + "scene_id": "wrong_rack/scene_000074", + "seed": 27000909, + "shared_state": "wrong_rack/scene_000074/shared_state.npz", + "video": "wrong_rack/scene_000074/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000074/right.json", + "scene_id": "wrong_rack/scene_000074", + "seed": 27000909, + "shared_state": "wrong_rack/scene_000074/shared_state.npz", + "video": "wrong_rack/scene_000074/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000075/left.json", + "scene_id": "wrong_rack/scene_000075", + "seed": 27010909, + "shared_state": "wrong_rack/scene_000075/shared_state.npz", + "video": "wrong_rack/scene_000075/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000075/front.json", + "scene_id": "wrong_rack/scene_000075", + "seed": 27010909, + "shared_state": "wrong_rack/scene_000075/shared_state.npz", + "video": "wrong_rack/scene_000075/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000075/right.json", + "scene_id": "wrong_rack/scene_000075", + "seed": 27010909, + "shared_state": "wrong_rack/scene_000075/shared_state.npz", + "video": "wrong_rack/scene_000075/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000076/left.json", + "scene_id": "wrong_rack/scene_000076", + "seed": 27020909, + "shared_state": "wrong_rack/scene_000076/shared_state.npz", + "video": "wrong_rack/scene_000076/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000076/front.json", + "scene_id": "wrong_rack/scene_000076", + "seed": 27020909, + "shared_state": "wrong_rack/scene_000076/shared_state.npz", + "video": "wrong_rack/scene_000076/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000076/right.json", + "scene_id": "wrong_rack/scene_000076", + "seed": 27020909, + "shared_state": "wrong_rack/scene_000076/shared_state.npz", + "video": "wrong_rack/scene_000076/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000077/left.json", + "scene_id": "wrong_rack/scene_000077", + "seed": 27030909, + "shared_state": "wrong_rack/scene_000077/shared_state.npz", + "video": "wrong_rack/scene_000077/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000077/front.json", + "scene_id": "wrong_rack/scene_000077", + "seed": 27030909, + "shared_state": "wrong_rack/scene_000077/shared_state.npz", + "video": "wrong_rack/scene_000077/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000077/right.json", + "scene_id": "wrong_rack/scene_000077", + "seed": 27030909, + "shared_state": "wrong_rack/scene_000077/shared_state.npz", + "video": "wrong_rack/scene_000077/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000078/left.json", + "scene_id": "wrong_rack/scene_000078", + "seed": 27040909, + "shared_state": "wrong_rack/scene_000078/shared_state.npz", + "video": "wrong_rack/scene_000078/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000078/front.json", + "scene_id": "wrong_rack/scene_000078", + "seed": 27040909, + "shared_state": "wrong_rack/scene_000078/shared_state.npz", + "video": "wrong_rack/scene_000078/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000078/right.json", + "scene_id": "wrong_rack/scene_000078", + "seed": 27040909, + "shared_state": "wrong_rack/scene_000078/shared_state.npz", + "video": "wrong_rack/scene_000078/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000079/left.json", + "scene_id": "wrong_rack/scene_000079", + "seed": 27050910, + "shared_state": "wrong_rack/scene_000079/shared_state.npz", + "video": "wrong_rack/scene_000079/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000079/front.json", + "scene_id": "wrong_rack/scene_000079", + "seed": 27050910, + "shared_state": "wrong_rack/scene_000079/shared_state.npz", + "video": "wrong_rack/scene_000079/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000079/right.json", + "scene_id": "wrong_rack/scene_000079", + "seed": 27050910, + "shared_state": "wrong_rack/scene_000079/shared_state.npz", + "video": "wrong_rack/scene_000079/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000080/left.json", + "scene_id": "wrong_rack/scene_000080", + "seed": 27060909, + "shared_state": "wrong_rack/scene_000080/shared_state.npz", + "video": "wrong_rack/scene_000080/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000080/front.json", + "scene_id": "wrong_rack/scene_000080", + "seed": 27060909, + "shared_state": "wrong_rack/scene_000080/shared_state.npz", + "video": "wrong_rack/scene_000080/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000080/right.json", + "scene_id": "wrong_rack/scene_000080", + "seed": 27060909, + "shared_state": "wrong_rack/scene_000080/shared_state.npz", + "video": "wrong_rack/scene_000080/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000081/left.json", + "scene_id": "wrong_rack/scene_000081", + "seed": 27070909, + "shared_state": "wrong_rack/scene_000081/shared_state.npz", + "video": "wrong_rack/scene_000081/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000081/front.json", + "scene_id": "wrong_rack/scene_000081", + "seed": 27070909, + "shared_state": "wrong_rack/scene_000081/shared_state.npz", + "video": "wrong_rack/scene_000081/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000081/right.json", + "scene_id": "wrong_rack/scene_000081", + "seed": 27070909, + "shared_state": "wrong_rack/scene_000081/shared_state.npz", + "video": "wrong_rack/scene_000081/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000082/left.json", + "scene_id": "wrong_rack/scene_000082", + "seed": 27080910, + "shared_state": "wrong_rack/scene_000082/shared_state.npz", + "video": "wrong_rack/scene_000082/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000082/front.json", + "scene_id": "wrong_rack/scene_000082", + "seed": 27080910, + "shared_state": "wrong_rack/scene_000082/shared_state.npz", + "video": "wrong_rack/scene_000082/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000082/right.json", + "scene_id": "wrong_rack/scene_000082", + "seed": 27080910, + "shared_state": "wrong_rack/scene_000082/shared_state.npz", + "video": "wrong_rack/scene_000082/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000083/left.json", + "scene_id": "wrong_rack/scene_000083", + "seed": 27090911, + "shared_state": "wrong_rack/scene_000083/shared_state.npz", + "video": "wrong_rack/scene_000083/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000083/front.json", + "scene_id": "wrong_rack/scene_000083", + "seed": 27090911, + "shared_state": "wrong_rack/scene_000083/shared_state.npz", + "video": "wrong_rack/scene_000083/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000083/right.json", + "scene_id": "wrong_rack/scene_000083", + "seed": 27090911, + "shared_state": "wrong_rack/scene_000083/shared_state.npz", + "video": "wrong_rack/scene_000083/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000084/left.json", + "scene_id": "wrong_rack/scene_000084", + "seed": 27100909, + "shared_state": "wrong_rack/scene_000084/shared_state.npz", + "video": "wrong_rack/scene_000084/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000084/front.json", + "scene_id": "wrong_rack/scene_000084", + "seed": 27100909, + "shared_state": "wrong_rack/scene_000084/shared_state.npz", + "video": "wrong_rack/scene_000084/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000084/right.json", + "scene_id": "wrong_rack/scene_000084", + "seed": 27100909, + "shared_state": "wrong_rack/scene_000084/shared_state.npz", + "video": "wrong_rack/scene_000084/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000085/left.json", + "scene_id": "wrong_rack/scene_000085", + "seed": 27110909, + "shared_state": "wrong_rack/scene_000085/shared_state.npz", + "video": "wrong_rack/scene_000085/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000085/front.json", + "scene_id": "wrong_rack/scene_000085", + "seed": 27110909, + "shared_state": "wrong_rack/scene_000085/shared_state.npz", + "video": "wrong_rack/scene_000085/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000085/right.json", + "scene_id": "wrong_rack/scene_000085", + "seed": 27110909, + "shared_state": "wrong_rack/scene_000085/shared_state.npz", + "video": "wrong_rack/scene_000085/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000086/left.json", + "scene_id": "wrong_rack/scene_000086", + "seed": 27120909, + "shared_state": "wrong_rack/scene_000086/shared_state.npz", + "video": "wrong_rack/scene_000086/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000086/front.json", + "scene_id": "wrong_rack/scene_000086", + "seed": 27120909, + "shared_state": "wrong_rack/scene_000086/shared_state.npz", + "video": "wrong_rack/scene_000086/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000086/right.json", + "scene_id": "wrong_rack/scene_000086", + "seed": 27120909, + "shared_state": "wrong_rack/scene_000086/shared_state.npz", + "video": "wrong_rack/scene_000086/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000087/left.json", + "scene_id": "wrong_rack/scene_000087", + "seed": 27130909, + "shared_state": "wrong_rack/scene_000087/shared_state.npz", + "video": "wrong_rack/scene_000087/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000087/front.json", + "scene_id": "wrong_rack/scene_000087", + "seed": 27130909, + "shared_state": "wrong_rack/scene_000087/shared_state.npz", + "video": "wrong_rack/scene_000087/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000087/right.json", + "scene_id": "wrong_rack/scene_000087", + "seed": 27130909, + "shared_state": "wrong_rack/scene_000087/shared_state.npz", + "video": "wrong_rack/scene_000087/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000088/left.json", + "scene_id": "wrong_rack/scene_000088", + "seed": 27140909, + "shared_state": "wrong_rack/scene_000088/shared_state.npz", + "video": "wrong_rack/scene_000088/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000088/front.json", + "scene_id": "wrong_rack/scene_000088", + "seed": 27140909, + "shared_state": "wrong_rack/scene_000088/shared_state.npz", + "video": "wrong_rack/scene_000088/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000088/right.json", + "scene_id": "wrong_rack/scene_000088", + "seed": 27140909, + "shared_state": "wrong_rack/scene_000088/shared_state.npz", + "video": "wrong_rack/scene_000088/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000089/left.json", + "scene_id": "wrong_rack/scene_000089", + "seed": 27150909, + "shared_state": "wrong_rack/scene_000089/shared_state.npz", + "video": "wrong_rack/scene_000089/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000089/front.json", + "scene_id": "wrong_rack/scene_000089", + "seed": 27150909, + "shared_state": "wrong_rack/scene_000089/shared_state.npz", + "video": "wrong_rack/scene_000089/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000089/right.json", + "scene_id": "wrong_rack/scene_000089", + "seed": 27150909, + "shared_state": "wrong_rack/scene_000089/shared_state.npz", + "video": "wrong_rack/scene_000089/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000090/left.json", + "scene_id": "wrong_rack/scene_000090", + "seed": 27160909, + "shared_state": "wrong_rack/scene_000090/shared_state.npz", + "video": "wrong_rack/scene_000090/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000090/front.json", + "scene_id": "wrong_rack/scene_000090", + "seed": 27160909, + "shared_state": "wrong_rack/scene_000090/shared_state.npz", + "video": "wrong_rack/scene_000090/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000090/right.json", + "scene_id": "wrong_rack/scene_000090", + "seed": 27160909, + "shared_state": "wrong_rack/scene_000090/shared_state.npz", + "video": "wrong_rack/scene_000090/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000091/left.json", + "scene_id": "wrong_rack/scene_000091", + "seed": 27170909, + "shared_state": "wrong_rack/scene_000091/shared_state.npz", + "video": "wrong_rack/scene_000091/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000091/front.json", + "scene_id": "wrong_rack/scene_000091", + "seed": 27170909, + "shared_state": "wrong_rack/scene_000091/shared_state.npz", + "video": "wrong_rack/scene_000091/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000091/right.json", + "scene_id": "wrong_rack/scene_000091", + "seed": 27170909, + "shared_state": "wrong_rack/scene_000091/shared_state.npz", + "video": "wrong_rack/scene_000091/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000092/left.json", + "scene_id": "wrong_rack/scene_000092", + "seed": 27180910, + "shared_state": "wrong_rack/scene_000092/shared_state.npz", + "video": "wrong_rack/scene_000092/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000092/front.json", + "scene_id": "wrong_rack/scene_000092", + "seed": 27180910, + "shared_state": "wrong_rack/scene_000092/shared_state.npz", + "video": "wrong_rack/scene_000092/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000092/right.json", + "scene_id": "wrong_rack/scene_000092", + "seed": 27180910, + "shared_state": "wrong_rack/scene_000092/shared_state.npz", + "video": "wrong_rack/scene_000092/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000093/left.json", + "scene_id": "wrong_rack/scene_000093", + "seed": 27190909, + "shared_state": "wrong_rack/scene_000093/shared_state.npz", + "video": "wrong_rack/scene_000093/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000093/front.json", + "scene_id": "wrong_rack/scene_000093", + "seed": 27190909, + "shared_state": "wrong_rack/scene_000093/shared_state.npz", + "video": "wrong_rack/scene_000093/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000093/right.json", + "scene_id": "wrong_rack/scene_000093", + "seed": 27190909, + "shared_state": "wrong_rack/scene_000093/shared_state.npz", + "video": "wrong_rack/scene_000093/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000094/left.json", + "scene_id": "wrong_rack/scene_000094", + "seed": 27200910, + "shared_state": "wrong_rack/scene_000094/shared_state.npz", + "video": "wrong_rack/scene_000094/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000094/front.json", + "scene_id": "wrong_rack/scene_000094", + "seed": 27200910, + "shared_state": "wrong_rack/scene_000094/shared_state.npz", + "video": "wrong_rack/scene_000094/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000094/right.json", + "scene_id": "wrong_rack/scene_000094", + "seed": 27200910, + "shared_state": "wrong_rack/scene_000094/shared_state.npz", + "video": "wrong_rack/scene_000094/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000095/left.json", + "scene_id": "wrong_rack/scene_000095", + "seed": 27210909, + "shared_state": "wrong_rack/scene_000095/shared_state.npz", + "video": "wrong_rack/scene_000095/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000095/front.json", + "scene_id": "wrong_rack/scene_000095", + "seed": 27210909, + "shared_state": "wrong_rack/scene_000095/shared_state.npz", + "video": "wrong_rack/scene_000095/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000095/right.json", + "scene_id": "wrong_rack/scene_000095", + "seed": 27210909, + "shared_state": "wrong_rack/scene_000095/shared_state.npz", + "video": "wrong_rack/scene_000095/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000096/left.json", + "scene_id": "wrong_rack/scene_000096", + "seed": 27220910, + "shared_state": "wrong_rack/scene_000096/shared_state.npz", + "video": "wrong_rack/scene_000096/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000096/front.json", + "scene_id": "wrong_rack/scene_000096", + "seed": 27220910, + "shared_state": "wrong_rack/scene_000096/shared_state.npz", + "video": "wrong_rack/scene_000096/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000096/right.json", + "scene_id": "wrong_rack/scene_000096", + "seed": 27220910, + "shared_state": "wrong_rack/scene_000096/shared_state.npz", + "video": "wrong_rack/scene_000096/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000097/left.json", + "scene_id": "wrong_rack/scene_000097", + "seed": 27230909, + "shared_state": "wrong_rack/scene_000097/shared_state.npz", + "video": "wrong_rack/scene_000097/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000097/front.json", + "scene_id": "wrong_rack/scene_000097", + "seed": 27230909, + "shared_state": "wrong_rack/scene_000097/shared_state.npz", + "video": "wrong_rack/scene_000097/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000097/right.json", + "scene_id": "wrong_rack/scene_000097", + "seed": 27230909, + "shared_state": "wrong_rack/scene_000097/shared_state.npz", + "video": "wrong_rack/scene_000097/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000098/left.json", + "scene_id": "wrong_rack/scene_000098", + "seed": 27240912, + "shared_state": "wrong_rack/scene_000098/shared_state.npz", + "video": "wrong_rack/scene_000098/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000098/front.json", + "scene_id": "wrong_rack/scene_000098", + "seed": 27240912, + "shared_state": "wrong_rack/scene_000098/shared_state.npz", + "video": "wrong_rack/scene_000098/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000098/right.json", + "scene_id": "wrong_rack/scene_000098", + "seed": 27240912, + "shared_state": "wrong_rack/scene_000098/shared_state.npz", + "video": "wrong_rack/scene_000098/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000099/left.json", + "scene_id": "wrong_rack/scene_000099", + "seed": 27250910, + "shared_state": "wrong_rack/scene_000099/shared_state.npz", + "video": "wrong_rack/scene_000099/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000099/front.json", + "scene_id": "wrong_rack/scene_000099", + "seed": 27250910, + "shared_state": "wrong_rack/scene_000099/shared_state.npz", + "video": "wrong_rack/scene_000099/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": true, + "metadata": "wrong_rack/scene_000099/right.json", + "scene_id": "wrong_rack/scene_000099", + "seed": 27250910, + "shared_state": "wrong_rack/scene_000099/shared_state.npz", + "video": "wrong_rack/scene_000099/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000100/left.json", + "scene_id": "wrong_rack/scene_000100", + "seed": 161000000, + "shared_state": "wrong_rack/scene_000100/shared_state.npz", + "video": "wrong_rack/scene_000100/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000100/front.json", + "scene_id": "wrong_rack/scene_000100", + "seed": 161000000, + "shared_state": "wrong_rack/scene_000100/shared_state.npz", + "video": "wrong_rack/scene_000100/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000100/right.json", + "scene_id": "wrong_rack/scene_000100", + "seed": 161000000, + "shared_state": "wrong_rack/scene_000100/shared_state.npz", + "video": "wrong_rack/scene_000100/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000101/left.json", + "scene_id": "wrong_rack/scene_000101", + "seed": 161010000, + "shared_state": "wrong_rack/scene_000101/shared_state.npz", + "video": "wrong_rack/scene_000101/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000101/front.json", + "scene_id": "wrong_rack/scene_000101", + "seed": 161010000, + "shared_state": "wrong_rack/scene_000101/shared_state.npz", + "video": "wrong_rack/scene_000101/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000101/right.json", + "scene_id": "wrong_rack/scene_000101", + "seed": 161010000, + "shared_state": "wrong_rack/scene_000101/shared_state.npz", + "video": "wrong_rack/scene_000101/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000102/left.json", + "scene_id": "wrong_rack/scene_000102", + "seed": 161020000, + "shared_state": "wrong_rack/scene_000102/shared_state.npz", + "video": "wrong_rack/scene_000102/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000102/front.json", + "scene_id": "wrong_rack/scene_000102", + "seed": 161020000, + "shared_state": "wrong_rack/scene_000102/shared_state.npz", + "video": "wrong_rack/scene_000102/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000102/right.json", + "scene_id": "wrong_rack/scene_000102", + "seed": 161020000, + "shared_state": "wrong_rack/scene_000102/shared_state.npz", + "video": "wrong_rack/scene_000102/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000103/left.json", + "scene_id": "wrong_rack/scene_000103", + "seed": 161030000, + "shared_state": "wrong_rack/scene_000103/shared_state.npz", + "video": "wrong_rack/scene_000103/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000103/front.json", + "scene_id": "wrong_rack/scene_000103", + "seed": 161030000, + "shared_state": "wrong_rack/scene_000103/shared_state.npz", + "video": "wrong_rack/scene_000103/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000103/right.json", + "scene_id": "wrong_rack/scene_000103", + "seed": 161030000, + "shared_state": "wrong_rack/scene_000103/shared_state.npz", + "video": "wrong_rack/scene_000103/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000104/left.json", + "scene_id": "wrong_rack/scene_000104", + "seed": 161040000, + "shared_state": "wrong_rack/scene_000104/shared_state.npz", + "video": "wrong_rack/scene_000104/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000104/front.json", + "scene_id": "wrong_rack/scene_000104", + "seed": 161040000, + "shared_state": "wrong_rack/scene_000104/shared_state.npz", + "video": "wrong_rack/scene_000104/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000104/right.json", + "scene_id": "wrong_rack/scene_000104", + "seed": 161040000, + "shared_state": "wrong_rack/scene_000104/shared_state.npz", + "video": "wrong_rack/scene_000104/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000105/left.json", + "scene_id": "wrong_rack/scene_000105", + "seed": 161050000, + "shared_state": "wrong_rack/scene_000105/shared_state.npz", + "video": "wrong_rack/scene_000105/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000105/front.json", + "scene_id": "wrong_rack/scene_000105", + "seed": 161050000, + "shared_state": "wrong_rack/scene_000105/shared_state.npz", + "video": "wrong_rack/scene_000105/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000105/right.json", + "scene_id": "wrong_rack/scene_000105", + "seed": 161050000, + "shared_state": "wrong_rack/scene_000105/shared_state.npz", + "video": "wrong_rack/scene_000105/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000106/left.json", + "scene_id": "wrong_rack/scene_000106", + "seed": 161060000, + "shared_state": "wrong_rack/scene_000106/shared_state.npz", + "video": "wrong_rack/scene_000106/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000106/front.json", + "scene_id": "wrong_rack/scene_000106", + "seed": 161060000, + "shared_state": "wrong_rack/scene_000106/shared_state.npz", + "video": "wrong_rack/scene_000106/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000106/right.json", + "scene_id": "wrong_rack/scene_000106", + "seed": 161060000, + "shared_state": "wrong_rack/scene_000106/shared_state.npz", + "video": "wrong_rack/scene_000106/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000107/left.json", + "scene_id": "wrong_rack/scene_000107", + "seed": 161070000, + "shared_state": "wrong_rack/scene_000107/shared_state.npz", + "video": "wrong_rack/scene_000107/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000107/front.json", + "scene_id": "wrong_rack/scene_000107", + "seed": 161070000, + "shared_state": "wrong_rack/scene_000107/shared_state.npz", + "video": "wrong_rack/scene_000107/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000107/right.json", + "scene_id": "wrong_rack/scene_000107", + "seed": 161070000, + "shared_state": "wrong_rack/scene_000107/shared_state.npz", + "video": "wrong_rack/scene_000107/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000108/left.json", + "scene_id": "wrong_rack/scene_000108", + "seed": 161080000, + "shared_state": "wrong_rack/scene_000108/shared_state.npz", + "video": "wrong_rack/scene_000108/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000108/front.json", + "scene_id": "wrong_rack/scene_000108", + "seed": 161080000, + "shared_state": "wrong_rack/scene_000108/shared_state.npz", + "video": "wrong_rack/scene_000108/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000108/right.json", + "scene_id": "wrong_rack/scene_000108", + "seed": 161080000, + "shared_state": "wrong_rack/scene_000108/shared_state.npz", + "video": "wrong_rack/scene_000108/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000109/left.json", + "scene_id": "wrong_rack/scene_000109", + "seed": 161090000, + "shared_state": "wrong_rack/scene_000109/shared_state.npz", + "video": "wrong_rack/scene_000109/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000109/front.json", + "scene_id": "wrong_rack/scene_000109", + "seed": 161090000, + "shared_state": "wrong_rack/scene_000109/shared_state.npz", + "video": "wrong_rack/scene_000109/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000109/right.json", + "scene_id": "wrong_rack/scene_000109", + "seed": 161090000, + "shared_state": "wrong_rack/scene_000109/shared_state.npz", + "video": "wrong_rack/scene_000109/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000110/left.json", + "scene_id": "wrong_rack/scene_000110", + "seed": 161100000, + "shared_state": "wrong_rack/scene_000110/shared_state.npz", + "video": "wrong_rack/scene_000110/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000110/front.json", + "scene_id": "wrong_rack/scene_000110", + "seed": 161100000, + "shared_state": "wrong_rack/scene_000110/shared_state.npz", + "video": "wrong_rack/scene_000110/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000110/right.json", + "scene_id": "wrong_rack/scene_000110", + "seed": 161100000, + "shared_state": "wrong_rack/scene_000110/shared_state.npz", + "video": "wrong_rack/scene_000110/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000111/left.json", + "scene_id": "wrong_rack/scene_000111", + "seed": 161110000, + "shared_state": "wrong_rack/scene_000111/shared_state.npz", + "video": "wrong_rack/scene_000111/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000111/front.json", + "scene_id": "wrong_rack/scene_000111", + "seed": 161110000, + "shared_state": "wrong_rack/scene_000111/shared_state.npz", + "video": "wrong_rack/scene_000111/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000111/right.json", + "scene_id": "wrong_rack/scene_000111", + "seed": 161110000, + "shared_state": "wrong_rack/scene_000111/shared_state.npz", + "video": "wrong_rack/scene_000111/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000112/left.json", + "scene_id": "wrong_rack/scene_000112", + "seed": 161120000, + "shared_state": "wrong_rack/scene_000112/shared_state.npz", + "video": "wrong_rack/scene_000112/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000112/front.json", + "scene_id": "wrong_rack/scene_000112", + "seed": 161120000, + "shared_state": "wrong_rack/scene_000112/shared_state.npz", + "video": "wrong_rack/scene_000112/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000112/right.json", + "scene_id": "wrong_rack/scene_000112", + "seed": 161120000, + "shared_state": "wrong_rack/scene_000112/shared_state.npz", + "video": "wrong_rack/scene_000112/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000113/left.json", + "scene_id": "wrong_rack/scene_000113", + "seed": 161130000, + "shared_state": "wrong_rack/scene_000113/shared_state.npz", + "video": "wrong_rack/scene_000113/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000113/front.json", + "scene_id": "wrong_rack/scene_000113", + "seed": 161130000, + "shared_state": "wrong_rack/scene_000113/shared_state.npz", + "video": "wrong_rack/scene_000113/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000113/right.json", + "scene_id": "wrong_rack/scene_000113", + "seed": 161130000, + "shared_state": "wrong_rack/scene_000113/shared_state.npz", + "video": "wrong_rack/scene_000113/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000114/left.json", + "scene_id": "wrong_rack/scene_000114", + "seed": 161140000, + "shared_state": "wrong_rack/scene_000114/shared_state.npz", + "video": "wrong_rack/scene_000114/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000114/front.json", + "scene_id": "wrong_rack/scene_000114", + "seed": 161140000, + "shared_state": "wrong_rack/scene_000114/shared_state.npz", + "video": "wrong_rack/scene_000114/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000114/right.json", + "scene_id": "wrong_rack/scene_000114", + "seed": 161140000, + "shared_state": "wrong_rack/scene_000114/shared_state.npz", + "video": "wrong_rack/scene_000114/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000115/left.json", + "scene_id": "wrong_rack/scene_000115", + "seed": 161150000, + "shared_state": "wrong_rack/scene_000115/shared_state.npz", + "video": "wrong_rack/scene_000115/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000115/front.json", + "scene_id": "wrong_rack/scene_000115", + "seed": 161150000, + "shared_state": "wrong_rack/scene_000115/shared_state.npz", + "video": "wrong_rack/scene_000115/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000115/right.json", + "scene_id": "wrong_rack/scene_000115", + "seed": 161150000, + "shared_state": "wrong_rack/scene_000115/shared_state.npz", + "video": "wrong_rack/scene_000115/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000116/left.json", + "scene_id": "wrong_rack/scene_000116", + "seed": 161160000, + "shared_state": "wrong_rack/scene_000116/shared_state.npz", + "video": "wrong_rack/scene_000116/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000116/front.json", + "scene_id": "wrong_rack/scene_000116", + "seed": 161160000, + "shared_state": "wrong_rack/scene_000116/shared_state.npz", + "video": "wrong_rack/scene_000116/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000116/right.json", + "scene_id": "wrong_rack/scene_000116", + "seed": 161160000, + "shared_state": "wrong_rack/scene_000116/shared_state.npz", + "video": "wrong_rack/scene_000116/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000117/left.json", + "scene_id": "wrong_rack/scene_000117", + "seed": 161170000, + "shared_state": "wrong_rack/scene_000117/shared_state.npz", + "video": "wrong_rack/scene_000117/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000117/front.json", + "scene_id": "wrong_rack/scene_000117", + "seed": 161170000, + "shared_state": "wrong_rack/scene_000117/shared_state.npz", + "video": "wrong_rack/scene_000117/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000117/right.json", + "scene_id": "wrong_rack/scene_000117", + "seed": 161170000, + "shared_state": "wrong_rack/scene_000117/shared_state.npz", + "video": "wrong_rack/scene_000117/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000118/left.json", + "scene_id": "wrong_rack/scene_000118", + "seed": 161180000, + "shared_state": "wrong_rack/scene_000118/shared_state.npz", + "video": "wrong_rack/scene_000118/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000118/front.json", + "scene_id": "wrong_rack/scene_000118", + "seed": 161180000, + "shared_state": "wrong_rack/scene_000118/shared_state.npz", + "video": "wrong_rack/scene_000118/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000118/right.json", + "scene_id": "wrong_rack/scene_000118", + "seed": 161180000, + "shared_state": "wrong_rack/scene_000118/shared_state.npz", + "video": "wrong_rack/scene_000118/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000119/left.json", + "scene_id": "wrong_rack/scene_000119", + "seed": 161190000, + "shared_state": "wrong_rack/scene_000119/shared_state.npz", + "video": "wrong_rack/scene_000119/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000119/front.json", + "scene_id": "wrong_rack/scene_000119", + "seed": 161190000, + "shared_state": "wrong_rack/scene_000119/shared_state.npz", + "video": "wrong_rack/scene_000119/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000119/right.json", + "scene_id": "wrong_rack/scene_000119", + "seed": 161190000, + "shared_state": "wrong_rack/scene_000119/shared_state.npz", + "video": "wrong_rack/scene_000119/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000120/left.json", + "scene_id": "wrong_rack/scene_000120", + "seed": 161200000, + "shared_state": "wrong_rack/scene_000120/shared_state.npz", + "video": "wrong_rack/scene_000120/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000120/front.json", + "scene_id": "wrong_rack/scene_000120", + "seed": 161200000, + "shared_state": "wrong_rack/scene_000120/shared_state.npz", + "video": "wrong_rack/scene_000120/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000120/right.json", + "scene_id": "wrong_rack/scene_000120", + "seed": 161200000, + "shared_state": "wrong_rack/scene_000120/shared_state.npz", + "video": "wrong_rack/scene_000120/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000121/left.json", + "scene_id": "wrong_rack/scene_000121", + "seed": 161210001, + "shared_state": "wrong_rack/scene_000121/shared_state.npz", + "video": "wrong_rack/scene_000121/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000121/front.json", + "scene_id": "wrong_rack/scene_000121", + "seed": 161210001, + "shared_state": "wrong_rack/scene_000121/shared_state.npz", + "video": "wrong_rack/scene_000121/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000121/right.json", + "scene_id": "wrong_rack/scene_000121", + "seed": 161210001, + "shared_state": "wrong_rack/scene_000121/shared_state.npz", + "video": "wrong_rack/scene_000121/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000122/left.json", + "scene_id": "wrong_rack/scene_000122", + "seed": 161220000, + "shared_state": "wrong_rack/scene_000122/shared_state.npz", + "video": "wrong_rack/scene_000122/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000122/front.json", + "scene_id": "wrong_rack/scene_000122", + "seed": 161220000, + "shared_state": "wrong_rack/scene_000122/shared_state.npz", + "video": "wrong_rack/scene_000122/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000122/right.json", + "scene_id": "wrong_rack/scene_000122", + "seed": 161220000, + "shared_state": "wrong_rack/scene_000122/shared_state.npz", + "video": "wrong_rack/scene_000122/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000123/left.json", + "scene_id": "wrong_rack/scene_000123", + "seed": 161230000, + "shared_state": "wrong_rack/scene_000123/shared_state.npz", + "video": "wrong_rack/scene_000123/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000123/front.json", + "scene_id": "wrong_rack/scene_000123", + "seed": 161230000, + "shared_state": "wrong_rack/scene_000123/shared_state.npz", + "video": "wrong_rack/scene_000123/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000123/right.json", + "scene_id": "wrong_rack/scene_000123", + "seed": 161230000, + "shared_state": "wrong_rack/scene_000123/shared_state.npz", + "video": "wrong_rack/scene_000123/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000124/left.json", + "scene_id": "wrong_rack/scene_000124", + "seed": 161240001, + "shared_state": "wrong_rack/scene_000124/shared_state.npz", + "video": "wrong_rack/scene_000124/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000124/front.json", + "scene_id": "wrong_rack/scene_000124", + "seed": 161240001, + "shared_state": "wrong_rack/scene_000124/shared_state.npz", + "video": "wrong_rack/scene_000124/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000124/right.json", + "scene_id": "wrong_rack/scene_000124", + "seed": 161240001, + "shared_state": "wrong_rack/scene_000124/shared_state.npz", + "video": "wrong_rack/scene_000124/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000125/left.json", + "scene_id": "wrong_rack/scene_000125", + "seed": 161250000, + "shared_state": "wrong_rack/scene_000125/shared_state.npz", + "video": "wrong_rack/scene_000125/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000125/front.json", + "scene_id": "wrong_rack/scene_000125", + "seed": 161250000, + "shared_state": "wrong_rack/scene_000125/shared_state.npz", + "video": "wrong_rack/scene_000125/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000125/right.json", + "scene_id": "wrong_rack/scene_000125", + "seed": 161250000, + "shared_state": "wrong_rack/scene_000125/shared_state.npz", + "video": "wrong_rack/scene_000125/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000126/left.json", + "scene_id": "wrong_rack/scene_000126", + "seed": 161260000, + "shared_state": "wrong_rack/scene_000126/shared_state.npz", + "video": "wrong_rack/scene_000126/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000126/front.json", + "scene_id": "wrong_rack/scene_000126", + "seed": 161260000, + "shared_state": "wrong_rack/scene_000126/shared_state.npz", + "video": "wrong_rack/scene_000126/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000126/right.json", + "scene_id": "wrong_rack/scene_000126", + "seed": 161260000, + "shared_state": "wrong_rack/scene_000126/shared_state.npz", + "video": "wrong_rack/scene_000126/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000127/left.json", + "scene_id": "wrong_rack/scene_000127", + "seed": 161270000, + "shared_state": "wrong_rack/scene_000127/shared_state.npz", + "video": "wrong_rack/scene_000127/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000127/front.json", + "scene_id": "wrong_rack/scene_000127", + "seed": 161270000, + "shared_state": "wrong_rack/scene_000127/shared_state.npz", + "video": "wrong_rack/scene_000127/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000127/right.json", + "scene_id": "wrong_rack/scene_000127", + "seed": 161270000, + "shared_state": "wrong_rack/scene_000127/shared_state.npz", + "video": "wrong_rack/scene_000127/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000128/left.json", + "scene_id": "wrong_rack/scene_000128", + "seed": 161280000, + "shared_state": "wrong_rack/scene_000128/shared_state.npz", + "video": "wrong_rack/scene_000128/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000128/front.json", + "scene_id": "wrong_rack/scene_000128", + "seed": 161280000, + "shared_state": "wrong_rack/scene_000128/shared_state.npz", + "video": "wrong_rack/scene_000128/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000128/right.json", + "scene_id": "wrong_rack/scene_000128", + "seed": 161280000, + "shared_state": "wrong_rack/scene_000128/shared_state.npz", + "video": "wrong_rack/scene_000128/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000129/left.json", + "scene_id": "wrong_rack/scene_000129", + "seed": 161290000, + "shared_state": "wrong_rack/scene_000129/shared_state.npz", + "video": "wrong_rack/scene_000129/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000129/front.json", + "scene_id": "wrong_rack/scene_000129", + "seed": 161290000, + "shared_state": "wrong_rack/scene_000129/shared_state.npz", + "video": "wrong_rack/scene_000129/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000129/right.json", + "scene_id": "wrong_rack/scene_000129", + "seed": 161290000, + "shared_state": "wrong_rack/scene_000129/shared_state.npz", + "video": "wrong_rack/scene_000129/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000130/left.json", + "scene_id": "wrong_rack/scene_000130", + "seed": 161300000, + "shared_state": "wrong_rack/scene_000130/shared_state.npz", + "video": "wrong_rack/scene_000130/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000130/front.json", + "scene_id": "wrong_rack/scene_000130", + "seed": 161300000, + "shared_state": "wrong_rack/scene_000130/shared_state.npz", + "video": "wrong_rack/scene_000130/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000130/right.json", + "scene_id": "wrong_rack/scene_000130", + "seed": 161300000, + "shared_state": "wrong_rack/scene_000130/shared_state.npz", + "video": "wrong_rack/scene_000130/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000131/left.json", + "scene_id": "wrong_rack/scene_000131", + "seed": 161310000, + "shared_state": "wrong_rack/scene_000131/shared_state.npz", + "video": "wrong_rack/scene_000131/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000131/front.json", + "scene_id": "wrong_rack/scene_000131", + "seed": 161310000, + "shared_state": "wrong_rack/scene_000131/shared_state.npz", + "video": "wrong_rack/scene_000131/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000131/right.json", + "scene_id": "wrong_rack/scene_000131", + "seed": 161310000, + "shared_state": "wrong_rack/scene_000131/shared_state.npz", + "video": "wrong_rack/scene_000131/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000132/left.json", + "scene_id": "wrong_rack/scene_000132", + "seed": 161320000, + "shared_state": "wrong_rack/scene_000132/shared_state.npz", + "video": "wrong_rack/scene_000132/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000132/front.json", + "scene_id": "wrong_rack/scene_000132", + "seed": 161320000, + "shared_state": "wrong_rack/scene_000132/shared_state.npz", + "video": "wrong_rack/scene_000132/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000132/right.json", + "scene_id": "wrong_rack/scene_000132", + "seed": 161320000, + "shared_state": "wrong_rack/scene_000132/shared_state.npz", + "video": "wrong_rack/scene_000132/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000133/left.json", + "scene_id": "wrong_rack/scene_000133", + "seed": 161330000, + "shared_state": "wrong_rack/scene_000133/shared_state.npz", + "video": "wrong_rack/scene_000133/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000133/front.json", + "scene_id": "wrong_rack/scene_000133", + "seed": 161330000, + "shared_state": "wrong_rack/scene_000133/shared_state.npz", + "video": "wrong_rack/scene_000133/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000133/right.json", + "scene_id": "wrong_rack/scene_000133", + "seed": 161330000, + "shared_state": "wrong_rack/scene_000133/shared_state.npz", + "video": "wrong_rack/scene_000133/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000134/left.json", + "scene_id": "wrong_rack/scene_000134", + "seed": 161340000, + "shared_state": "wrong_rack/scene_000134/shared_state.npz", + "video": "wrong_rack/scene_000134/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000134/front.json", + "scene_id": "wrong_rack/scene_000134", + "seed": 161340000, + "shared_state": "wrong_rack/scene_000134/shared_state.npz", + "video": "wrong_rack/scene_000134/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000134/right.json", + "scene_id": "wrong_rack/scene_000134", + "seed": 161340000, + "shared_state": "wrong_rack/scene_000134/shared_state.npz", + "video": "wrong_rack/scene_000134/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000135/left.json", + "scene_id": "wrong_rack/scene_000135", + "seed": 161350000, + "shared_state": "wrong_rack/scene_000135/shared_state.npz", + "video": "wrong_rack/scene_000135/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000135/front.json", + "scene_id": "wrong_rack/scene_000135", + "seed": 161350000, + "shared_state": "wrong_rack/scene_000135/shared_state.npz", + "video": "wrong_rack/scene_000135/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000135/right.json", + "scene_id": "wrong_rack/scene_000135", + "seed": 161350000, + "shared_state": "wrong_rack/scene_000135/shared_state.npz", + "video": "wrong_rack/scene_000135/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000136/left.json", + "scene_id": "wrong_rack/scene_000136", + "seed": 161360000, + "shared_state": "wrong_rack/scene_000136/shared_state.npz", + "video": "wrong_rack/scene_000136/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000136/front.json", + "scene_id": "wrong_rack/scene_000136", + "seed": 161360000, + "shared_state": "wrong_rack/scene_000136/shared_state.npz", + "video": "wrong_rack/scene_000136/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000136/right.json", + "scene_id": "wrong_rack/scene_000136", + "seed": 161360000, + "shared_state": "wrong_rack/scene_000136/shared_state.npz", + "video": "wrong_rack/scene_000136/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000137/left.json", + "scene_id": "wrong_rack/scene_000137", + "seed": 161370000, + "shared_state": "wrong_rack/scene_000137/shared_state.npz", + "video": "wrong_rack/scene_000137/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000137/front.json", + "scene_id": "wrong_rack/scene_000137", + "seed": 161370000, + "shared_state": "wrong_rack/scene_000137/shared_state.npz", + "video": "wrong_rack/scene_000137/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000137/right.json", + "scene_id": "wrong_rack/scene_000137", + "seed": 161370000, + "shared_state": "wrong_rack/scene_000137/shared_state.npz", + "video": "wrong_rack/scene_000137/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000138/left.json", + "scene_id": "wrong_rack/scene_000138", + "seed": 161380000, + "shared_state": "wrong_rack/scene_000138/shared_state.npz", + "video": "wrong_rack/scene_000138/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000138/front.json", + "scene_id": "wrong_rack/scene_000138", + "seed": 161380000, + "shared_state": "wrong_rack/scene_000138/shared_state.npz", + "video": "wrong_rack/scene_000138/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000138/right.json", + "scene_id": "wrong_rack/scene_000138", + "seed": 161380000, + "shared_state": "wrong_rack/scene_000138/shared_state.npz", + "video": "wrong_rack/scene_000138/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000139/left.json", + "scene_id": "wrong_rack/scene_000139", + "seed": 161390000, + "shared_state": "wrong_rack/scene_000139/shared_state.npz", + "video": "wrong_rack/scene_000139/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000139/front.json", + "scene_id": "wrong_rack/scene_000139", + "seed": 161390000, + "shared_state": "wrong_rack/scene_000139/shared_state.npz", + "video": "wrong_rack/scene_000139/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000139/right.json", + "scene_id": "wrong_rack/scene_000139", + "seed": 161390000, + "shared_state": "wrong_rack/scene_000139/shared_state.npz", + "video": "wrong_rack/scene_000139/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000140/left.json", + "scene_id": "wrong_rack/scene_000140", + "seed": 161400000, + "shared_state": "wrong_rack/scene_000140/shared_state.npz", + "video": "wrong_rack/scene_000140/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000140/front.json", + "scene_id": "wrong_rack/scene_000140", + "seed": 161400000, + "shared_state": "wrong_rack/scene_000140/shared_state.npz", + "video": "wrong_rack/scene_000140/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000140/right.json", + "scene_id": "wrong_rack/scene_000140", + "seed": 161400000, + "shared_state": "wrong_rack/scene_000140/shared_state.npz", + "video": "wrong_rack/scene_000140/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000141/left.json", + "scene_id": "wrong_rack/scene_000141", + "seed": 161410000, + "shared_state": "wrong_rack/scene_000141/shared_state.npz", + "video": "wrong_rack/scene_000141/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000141/front.json", + "scene_id": "wrong_rack/scene_000141", + "seed": 161410000, + "shared_state": "wrong_rack/scene_000141/shared_state.npz", + "video": "wrong_rack/scene_000141/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000141/right.json", + "scene_id": "wrong_rack/scene_000141", + "seed": 161410000, + "shared_state": "wrong_rack/scene_000141/shared_state.npz", + "video": "wrong_rack/scene_000141/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000142/left.json", + "scene_id": "wrong_rack/scene_000142", + "seed": 161420000, + "shared_state": "wrong_rack/scene_000142/shared_state.npz", + "video": "wrong_rack/scene_000142/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000142/front.json", + "scene_id": "wrong_rack/scene_000142", + "seed": 161420000, + "shared_state": "wrong_rack/scene_000142/shared_state.npz", + "video": "wrong_rack/scene_000142/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000142/right.json", + "scene_id": "wrong_rack/scene_000142", + "seed": 161420000, + "shared_state": "wrong_rack/scene_000142/shared_state.npz", + "video": "wrong_rack/scene_000142/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000143/left.json", + "scene_id": "wrong_rack/scene_000143", + "seed": 161430000, + "shared_state": "wrong_rack/scene_000143/shared_state.npz", + "video": "wrong_rack/scene_000143/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000143/front.json", + "scene_id": "wrong_rack/scene_000143", + "seed": 161430000, + "shared_state": "wrong_rack/scene_000143/shared_state.npz", + "video": "wrong_rack/scene_000143/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000143/right.json", + "scene_id": "wrong_rack/scene_000143", + "seed": 161430000, + "shared_state": "wrong_rack/scene_000143/shared_state.npz", + "video": "wrong_rack/scene_000143/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000144/left.json", + "scene_id": "wrong_rack/scene_000144", + "seed": 161440000, + "shared_state": "wrong_rack/scene_000144/shared_state.npz", + "video": "wrong_rack/scene_000144/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000144/front.json", + "scene_id": "wrong_rack/scene_000144", + "seed": 161440000, + "shared_state": "wrong_rack/scene_000144/shared_state.npz", + "video": "wrong_rack/scene_000144/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000144/right.json", + "scene_id": "wrong_rack/scene_000144", + "seed": 161440000, + "shared_state": "wrong_rack/scene_000144/shared_state.npz", + "video": "wrong_rack/scene_000144/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000145/left.json", + "scene_id": "wrong_rack/scene_000145", + "seed": 161450000, + "shared_state": "wrong_rack/scene_000145/shared_state.npz", + "video": "wrong_rack/scene_000145/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000145/front.json", + "scene_id": "wrong_rack/scene_000145", + "seed": 161450000, + "shared_state": "wrong_rack/scene_000145/shared_state.npz", + "video": "wrong_rack/scene_000145/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000145/right.json", + "scene_id": "wrong_rack/scene_000145", + "seed": 161450000, + "shared_state": "wrong_rack/scene_000145/shared_state.npz", + "video": "wrong_rack/scene_000145/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000146/left.json", + "scene_id": "wrong_rack/scene_000146", + "seed": 161460000, + "shared_state": "wrong_rack/scene_000146/shared_state.npz", + "video": "wrong_rack/scene_000146/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000146/front.json", + "scene_id": "wrong_rack/scene_000146", + "seed": 161460000, + "shared_state": "wrong_rack/scene_000146/shared_state.npz", + "video": "wrong_rack/scene_000146/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000146/right.json", + "scene_id": "wrong_rack/scene_000146", + "seed": 161460000, + "shared_state": "wrong_rack/scene_000146/shared_state.npz", + "video": "wrong_rack/scene_000146/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000147/left.json", + "scene_id": "wrong_rack/scene_000147", + "seed": 161470000, + "shared_state": "wrong_rack/scene_000147/shared_state.npz", + "video": "wrong_rack/scene_000147/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000147/front.json", + "scene_id": "wrong_rack/scene_000147", + "seed": 161470000, + "shared_state": "wrong_rack/scene_000147/shared_state.npz", + "video": "wrong_rack/scene_000147/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000147/right.json", + "scene_id": "wrong_rack/scene_000147", + "seed": 161470000, + "shared_state": "wrong_rack/scene_000147/shared_state.npz", + "video": "wrong_rack/scene_000147/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000148/left.json", + "scene_id": "wrong_rack/scene_000148", + "seed": 161480000, + "shared_state": "wrong_rack/scene_000148/shared_state.npz", + "video": "wrong_rack/scene_000148/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000148/front.json", + "scene_id": "wrong_rack/scene_000148", + "seed": 161480000, + "shared_state": "wrong_rack/scene_000148/shared_state.npz", + "video": "wrong_rack/scene_000148/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000148/right.json", + "scene_id": "wrong_rack/scene_000148", + "seed": 161480000, + "shared_state": "wrong_rack/scene_000148/shared_state.npz", + "video": "wrong_rack/scene_000148/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000149/left.json", + "scene_id": "wrong_rack/scene_000149", + "seed": 161490000, + "shared_state": "wrong_rack/scene_000149/shared_state.npz", + "video": "wrong_rack/scene_000149/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000149/front.json", + "scene_id": "wrong_rack/scene_000149", + "seed": 161490000, + "shared_state": "wrong_rack/scene_000149/shared_state.npz", + "video": "wrong_rack/scene_000149/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000149/right.json", + "scene_id": "wrong_rack/scene_000149", + "seed": 161490000, + "shared_state": "wrong_rack/scene_000149/shared_state.npz", + "video": "wrong_rack/scene_000149/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000150/left.json", + "scene_id": "wrong_rack/scene_000150", + "seed": 161500000, + "shared_state": "wrong_rack/scene_000150/shared_state.npz", + "video": "wrong_rack/scene_000150/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000150/front.json", + "scene_id": "wrong_rack/scene_000150", + "seed": 161500000, + "shared_state": "wrong_rack/scene_000150/shared_state.npz", + "video": "wrong_rack/scene_000150/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000150/right.json", + "scene_id": "wrong_rack/scene_000150", + "seed": 161500000, + "shared_state": "wrong_rack/scene_000150/shared_state.npz", + "video": "wrong_rack/scene_000150/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000151/left.json", + "scene_id": "wrong_rack/scene_000151", + "seed": 161510000, + "shared_state": "wrong_rack/scene_000151/shared_state.npz", + "video": "wrong_rack/scene_000151/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000151/front.json", + "scene_id": "wrong_rack/scene_000151", + "seed": 161510000, + "shared_state": "wrong_rack/scene_000151/shared_state.npz", + "video": "wrong_rack/scene_000151/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000151/right.json", + "scene_id": "wrong_rack/scene_000151", + "seed": 161510000, + "shared_state": "wrong_rack/scene_000151/shared_state.npz", + "video": "wrong_rack/scene_000151/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000152/left.json", + "scene_id": "wrong_rack/scene_000152", + "seed": 161520000, + "shared_state": "wrong_rack/scene_000152/shared_state.npz", + "video": "wrong_rack/scene_000152/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000152/front.json", + "scene_id": "wrong_rack/scene_000152", + "seed": 161520000, + "shared_state": "wrong_rack/scene_000152/shared_state.npz", + "video": "wrong_rack/scene_000152/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000152/right.json", + "scene_id": "wrong_rack/scene_000152", + "seed": 161520000, + "shared_state": "wrong_rack/scene_000152/shared_state.npz", + "video": "wrong_rack/scene_000152/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000153/left.json", + "scene_id": "wrong_rack/scene_000153", + "seed": 161530000, + "shared_state": "wrong_rack/scene_000153/shared_state.npz", + "video": "wrong_rack/scene_000153/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000153/front.json", + "scene_id": "wrong_rack/scene_000153", + "seed": 161530000, + "shared_state": "wrong_rack/scene_000153/shared_state.npz", + "video": "wrong_rack/scene_000153/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000153/right.json", + "scene_id": "wrong_rack/scene_000153", + "seed": 161530000, + "shared_state": "wrong_rack/scene_000153/shared_state.npz", + "video": "wrong_rack/scene_000153/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000154/left.json", + "scene_id": "wrong_rack/scene_000154", + "seed": 161540000, + "shared_state": "wrong_rack/scene_000154/shared_state.npz", + "video": "wrong_rack/scene_000154/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000154/front.json", + "scene_id": "wrong_rack/scene_000154", + "seed": 161540000, + "shared_state": "wrong_rack/scene_000154/shared_state.npz", + "video": "wrong_rack/scene_000154/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000154/right.json", + "scene_id": "wrong_rack/scene_000154", + "seed": 161540000, + "shared_state": "wrong_rack/scene_000154/shared_state.npz", + "video": "wrong_rack/scene_000154/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000155/left.json", + "scene_id": "wrong_rack/scene_000155", + "seed": 161550000, + "shared_state": "wrong_rack/scene_000155/shared_state.npz", + "video": "wrong_rack/scene_000155/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000155/front.json", + "scene_id": "wrong_rack/scene_000155", + "seed": 161550000, + "shared_state": "wrong_rack/scene_000155/shared_state.npz", + "video": "wrong_rack/scene_000155/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000155/right.json", + "scene_id": "wrong_rack/scene_000155", + "seed": 161550000, + "shared_state": "wrong_rack/scene_000155/shared_state.npz", + "video": "wrong_rack/scene_000155/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000156/left.json", + "scene_id": "wrong_rack/scene_000156", + "seed": 161560000, + "shared_state": "wrong_rack/scene_000156/shared_state.npz", + "video": "wrong_rack/scene_000156/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000156/front.json", + "scene_id": "wrong_rack/scene_000156", + "seed": 161560000, + "shared_state": "wrong_rack/scene_000156/shared_state.npz", + "video": "wrong_rack/scene_000156/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000156/right.json", + "scene_id": "wrong_rack/scene_000156", + "seed": 161560000, + "shared_state": "wrong_rack/scene_000156/shared_state.npz", + "video": "wrong_rack/scene_000156/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000157/left.json", + "scene_id": "wrong_rack/scene_000157", + "seed": 161570000, + "shared_state": "wrong_rack/scene_000157/shared_state.npz", + "video": "wrong_rack/scene_000157/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000157/front.json", + "scene_id": "wrong_rack/scene_000157", + "seed": 161570000, + "shared_state": "wrong_rack/scene_000157/shared_state.npz", + "video": "wrong_rack/scene_000157/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000157/right.json", + "scene_id": "wrong_rack/scene_000157", + "seed": 161570000, + "shared_state": "wrong_rack/scene_000157/shared_state.npz", + "video": "wrong_rack/scene_000157/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000158/left.json", + "scene_id": "wrong_rack/scene_000158", + "seed": 161580000, + "shared_state": "wrong_rack/scene_000158/shared_state.npz", + "video": "wrong_rack/scene_000158/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000158/front.json", + "scene_id": "wrong_rack/scene_000158", + "seed": 161580000, + "shared_state": "wrong_rack/scene_000158/shared_state.npz", + "video": "wrong_rack/scene_000158/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000158/right.json", + "scene_id": "wrong_rack/scene_000158", + "seed": 161580000, + "shared_state": "wrong_rack/scene_000158/shared_state.npz", + "video": "wrong_rack/scene_000158/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000159/left.json", + "scene_id": "wrong_rack/scene_000159", + "seed": 161590000, + "shared_state": "wrong_rack/scene_000159/shared_state.npz", + "video": "wrong_rack/scene_000159/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000159/front.json", + "scene_id": "wrong_rack/scene_000159", + "seed": 161590000, + "shared_state": "wrong_rack/scene_000159/shared_state.npz", + "video": "wrong_rack/scene_000159/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000159/right.json", + "scene_id": "wrong_rack/scene_000159", + "seed": 161590000, + "shared_state": "wrong_rack/scene_000159/shared_state.npz", + "video": "wrong_rack/scene_000159/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000160/left.json", + "scene_id": "wrong_rack/scene_000160", + "seed": 161600000, + "shared_state": "wrong_rack/scene_000160/shared_state.npz", + "video": "wrong_rack/scene_000160/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000160/front.json", + "scene_id": "wrong_rack/scene_000160", + "seed": 161600000, + "shared_state": "wrong_rack/scene_000160/shared_state.npz", + "video": "wrong_rack/scene_000160/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000160/right.json", + "scene_id": "wrong_rack/scene_000160", + "seed": 161600000, + "shared_state": "wrong_rack/scene_000160/shared_state.npz", + "video": "wrong_rack/scene_000160/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000161/left.json", + "scene_id": "wrong_rack/scene_000161", + "seed": 161610000, + "shared_state": "wrong_rack/scene_000161/shared_state.npz", + "video": "wrong_rack/scene_000161/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000161/front.json", + "scene_id": "wrong_rack/scene_000161", + "seed": 161610000, + "shared_state": "wrong_rack/scene_000161/shared_state.npz", + "video": "wrong_rack/scene_000161/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000161/right.json", + "scene_id": "wrong_rack/scene_000161", + "seed": 161610000, + "shared_state": "wrong_rack/scene_000161/shared_state.npz", + "video": "wrong_rack/scene_000161/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000162/left.json", + "scene_id": "wrong_rack/scene_000162", + "seed": 161620000, + "shared_state": "wrong_rack/scene_000162/shared_state.npz", + "video": "wrong_rack/scene_000162/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000162/front.json", + "scene_id": "wrong_rack/scene_000162", + "seed": 161620000, + "shared_state": "wrong_rack/scene_000162/shared_state.npz", + "video": "wrong_rack/scene_000162/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000162/right.json", + "scene_id": "wrong_rack/scene_000162", + "seed": 161620000, + "shared_state": "wrong_rack/scene_000162/shared_state.npz", + "video": "wrong_rack/scene_000162/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000163/left.json", + "scene_id": "wrong_rack/scene_000163", + "seed": 161630000, + "shared_state": "wrong_rack/scene_000163/shared_state.npz", + "video": "wrong_rack/scene_000163/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000163/front.json", + "scene_id": "wrong_rack/scene_000163", + "seed": 161630000, + "shared_state": "wrong_rack/scene_000163/shared_state.npz", + "video": "wrong_rack/scene_000163/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000163/right.json", + "scene_id": "wrong_rack/scene_000163", + "seed": 161630000, + "shared_state": "wrong_rack/scene_000163/shared_state.npz", + "video": "wrong_rack/scene_000163/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000164/left.json", + "scene_id": "wrong_rack/scene_000164", + "seed": 161640000, + "shared_state": "wrong_rack/scene_000164/shared_state.npz", + "video": "wrong_rack/scene_000164/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000164/front.json", + "scene_id": "wrong_rack/scene_000164", + "seed": 161640000, + "shared_state": "wrong_rack/scene_000164/shared_state.npz", + "video": "wrong_rack/scene_000164/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000164/right.json", + "scene_id": "wrong_rack/scene_000164", + "seed": 161640000, + "shared_state": "wrong_rack/scene_000164/shared_state.npz", + "video": "wrong_rack/scene_000164/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000165/left.json", + "scene_id": "wrong_rack/scene_000165", + "seed": 161650000, + "shared_state": "wrong_rack/scene_000165/shared_state.npz", + "video": "wrong_rack/scene_000165/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000165/front.json", + "scene_id": "wrong_rack/scene_000165", + "seed": 161650000, + "shared_state": "wrong_rack/scene_000165/shared_state.npz", + "video": "wrong_rack/scene_000165/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000165/right.json", + "scene_id": "wrong_rack/scene_000165", + "seed": 161650000, + "shared_state": "wrong_rack/scene_000165/shared_state.npz", + "video": "wrong_rack/scene_000165/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000166/left.json", + "scene_id": "wrong_rack/scene_000166", + "seed": 161660000, + "shared_state": "wrong_rack/scene_000166/shared_state.npz", + "video": "wrong_rack/scene_000166/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000166/front.json", + "scene_id": "wrong_rack/scene_000166", + "seed": 161660000, + "shared_state": "wrong_rack/scene_000166/shared_state.npz", + "video": "wrong_rack/scene_000166/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000166/right.json", + "scene_id": "wrong_rack/scene_000166", + "seed": 161660000, + "shared_state": "wrong_rack/scene_000166/shared_state.npz", + "video": "wrong_rack/scene_000166/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000167/left.json", + "scene_id": "wrong_rack/scene_000167", + "seed": 161670000, + "shared_state": "wrong_rack/scene_000167/shared_state.npz", + "video": "wrong_rack/scene_000167/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000167/front.json", + "scene_id": "wrong_rack/scene_000167", + "seed": 161670000, + "shared_state": "wrong_rack/scene_000167/shared_state.npz", + "video": "wrong_rack/scene_000167/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000167/right.json", + "scene_id": "wrong_rack/scene_000167", + "seed": 161670000, + "shared_state": "wrong_rack/scene_000167/shared_state.npz", + "video": "wrong_rack/scene_000167/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000168/left.json", + "scene_id": "wrong_rack/scene_000168", + "seed": 161680000, + "shared_state": "wrong_rack/scene_000168/shared_state.npz", + "video": "wrong_rack/scene_000168/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000168/front.json", + "scene_id": "wrong_rack/scene_000168", + "seed": 161680000, + "shared_state": "wrong_rack/scene_000168/shared_state.npz", + "video": "wrong_rack/scene_000168/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000168/right.json", + "scene_id": "wrong_rack/scene_000168", + "seed": 161680000, + "shared_state": "wrong_rack/scene_000168/shared_state.npz", + "video": "wrong_rack/scene_000168/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000169/left.json", + "scene_id": "wrong_rack/scene_000169", + "seed": 161690000, + "shared_state": "wrong_rack/scene_000169/shared_state.npz", + "video": "wrong_rack/scene_000169/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000169/front.json", + "scene_id": "wrong_rack/scene_000169", + "seed": 161690000, + "shared_state": "wrong_rack/scene_000169/shared_state.npz", + "video": "wrong_rack/scene_000169/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000169/right.json", + "scene_id": "wrong_rack/scene_000169", + "seed": 161690000, + "shared_state": "wrong_rack/scene_000169/shared_state.npz", + "video": "wrong_rack/scene_000169/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000170/left.json", + "scene_id": "wrong_rack/scene_000170", + "seed": 161700000, + "shared_state": "wrong_rack/scene_000170/shared_state.npz", + "video": "wrong_rack/scene_000170/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000170/front.json", + "scene_id": "wrong_rack/scene_000170", + "seed": 161700000, + "shared_state": "wrong_rack/scene_000170/shared_state.npz", + "video": "wrong_rack/scene_000170/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000170/right.json", + "scene_id": "wrong_rack/scene_000170", + "seed": 161700000, + "shared_state": "wrong_rack/scene_000170/shared_state.npz", + "video": "wrong_rack/scene_000170/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000171/left.json", + "scene_id": "wrong_rack/scene_000171", + "seed": 161710000, + "shared_state": "wrong_rack/scene_000171/shared_state.npz", + "video": "wrong_rack/scene_000171/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000171/front.json", + "scene_id": "wrong_rack/scene_000171", + "seed": 161710000, + "shared_state": "wrong_rack/scene_000171/shared_state.npz", + "video": "wrong_rack/scene_000171/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000171/right.json", + "scene_id": "wrong_rack/scene_000171", + "seed": 161710000, + "shared_state": "wrong_rack/scene_000171/shared_state.npz", + "video": "wrong_rack/scene_000171/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000172/left.json", + "scene_id": "wrong_rack/scene_000172", + "seed": 161720000, + "shared_state": "wrong_rack/scene_000172/shared_state.npz", + "video": "wrong_rack/scene_000172/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000172/front.json", + "scene_id": "wrong_rack/scene_000172", + "seed": 161720000, + "shared_state": "wrong_rack/scene_000172/shared_state.npz", + "video": "wrong_rack/scene_000172/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000172/right.json", + "scene_id": "wrong_rack/scene_000172", + "seed": 161720000, + "shared_state": "wrong_rack/scene_000172/shared_state.npz", + "video": "wrong_rack/scene_000172/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000173/left.json", + "scene_id": "wrong_rack/scene_000173", + "seed": 161730000, + "shared_state": "wrong_rack/scene_000173/shared_state.npz", + "video": "wrong_rack/scene_000173/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000173/front.json", + "scene_id": "wrong_rack/scene_000173", + "seed": 161730000, + "shared_state": "wrong_rack/scene_000173/shared_state.npz", + "video": "wrong_rack/scene_000173/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000173/right.json", + "scene_id": "wrong_rack/scene_000173", + "seed": 161730000, + "shared_state": "wrong_rack/scene_000173/shared_state.npz", + "video": "wrong_rack/scene_000173/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000174/left.json", + "scene_id": "wrong_rack/scene_000174", + "seed": 161740000, + "shared_state": "wrong_rack/scene_000174/shared_state.npz", + "video": "wrong_rack/scene_000174/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000174/front.json", + "scene_id": "wrong_rack/scene_000174", + "seed": 161740000, + "shared_state": "wrong_rack/scene_000174/shared_state.npz", + "video": "wrong_rack/scene_000174/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000174/right.json", + "scene_id": "wrong_rack/scene_000174", + "seed": 161740000, + "shared_state": "wrong_rack/scene_000174/shared_state.npz", + "video": "wrong_rack/scene_000174/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000175/left.json", + "scene_id": "wrong_rack/scene_000175", + "seed": 161750000, + "shared_state": "wrong_rack/scene_000175/shared_state.npz", + "video": "wrong_rack/scene_000175/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000175/front.json", + "scene_id": "wrong_rack/scene_000175", + "seed": 161750000, + "shared_state": "wrong_rack/scene_000175/shared_state.npz", + "video": "wrong_rack/scene_000175/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000175/right.json", + "scene_id": "wrong_rack/scene_000175", + "seed": 161750000, + "shared_state": "wrong_rack/scene_000175/shared_state.npz", + "video": "wrong_rack/scene_000175/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000176/left.json", + "scene_id": "wrong_rack/scene_000176", + "seed": 161760000, + "shared_state": "wrong_rack/scene_000176/shared_state.npz", + "video": "wrong_rack/scene_000176/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000176/front.json", + "scene_id": "wrong_rack/scene_000176", + "seed": 161760000, + "shared_state": "wrong_rack/scene_000176/shared_state.npz", + "video": "wrong_rack/scene_000176/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000176/right.json", + "scene_id": "wrong_rack/scene_000176", + "seed": 161760000, + "shared_state": "wrong_rack/scene_000176/shared_state.npz", + "video": "wrong_rack/scene_000176/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000177/left.json", + "scene_id": "wrong_rack/scene_000177", + "seed": 161770000, + "shared_state": "wrong_rack/scene_000177/shared_state.npz", + "video": "wrong_rack/scene_000177/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000177/front.json", + "scene_id": "wrong_rack/scene_000177", + "seed": 161770000, + "shared_state": "wrong_rack/scene_000177/shared_state.npz", + "video": "wrong_rack/scene_000177/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000177/right.json", + "scene_id": "wrong_rack/scene_000177", + "seed": 161770000, + "shared_state": "wrong_rack/scene_000177/shared_state.npz", + "video": "wrong_rack/scene_000177/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000178/left.json", + "scene_id": "wrong_rack/scene_000178", + "seed": 161780001, + "shared_state": "wrong_rack/scene_000178/shared_state.npz", + "video": "wrong_rack/scene_000178/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000178/front.json", + "scene_id": "wrong_rack/scene_000178", + "seed": 161780001, + "shared_state": "wrong_rack/scene_000178/shared_state.npz", + "video": "wrong_rack/scene_000178/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000178/right.json", + "scene_id": "wrong_rack/scene_000178", + "seed": 161780001, + "shared_state": "wrong_rack/scene_000178/shared_state.npz", + "video": "wrong_rack/scene_000178/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000179/left.json", + "scene_id": "wrong_rack/scene_000179", + "seed": 161790000, + "shared_state": "wrong_rack/scene_000179/shared_state.npz", + "video": "wrong_rack/scene_000179/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000179/front.json", + "scene_id": "wrong_rack/scene_000179", + "seed": 161790000, + "shared_state": "wrong_rack/scene_000179/shared_state.npz", + "video": "wrong_rack/scene_000179/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000179/right.json", + "scene_id": "wrong_rack/scene_000179", + "seed": 161790000, + "shared_state": "wrong_rack/scene_000179/shared_state.npz", + "video": "wrong_rack/scene_000179/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000180/left.json", + "scene_id": "wrong_rack/scene_000180", + "seed": 161800000, + "shared_state": "wrong_rack/scene_000180/shared_state.npz", + "video": "wrong_rack/scene_000180/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000180/front.json", + "scene_id": "wrong_rack/scene_000180", + "seed": 161800000, + "shared_state": "wrong_rack/scene_000180/shared_state.npz", + "video": "wrong_rack/scene_000180/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000180/right.json", + "scene_id": "wrong_rack/scene_000180", + "seed": 161800000, + "shared_state": "wrong_rack/scene_000180/shared_state.npz", + "video": "wrong_rack/scene_000180/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000181/left.json", + "scene_id": "wrong_rack/scene_000181", + "seed": 161810000, + "shared_state": "wrong_rack/scene_000181/shared_state.npz", + "video": "wrong_rack/scene_000181/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000181/front.json", + "scene_id": "wrong_rack/scene_000181", + "seed": 161810000, + "shared_state": "wrong_rack/scene_000181/shared_state.npz", + "video": "wrong_rack/scene_000181/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000181/right.json", + "scene_id": "wrong_rack/scene_000181", + "seed": 161810000, + "shared_state": "wrong_rack/scene_000181/shared_state.npz", + "video": "wrong_rack/scene_000181/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000182/left.json", + "scene_id": "wrong_rack/scene_000182", + "seed": 161820000, + "shared_state": "wrong_rack/scene_000182/shared_state.npz", + "video": "wrong_rack/scene_000182/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000182/front.json", + "scene_id": "wrong_rack/scene_000182", + "seed": 161820000, + "shared_state": "wrong_rack/scene_000182/shared_state.npz", + "video": "wrong_rack/scene_000182/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000182/right.json", + "scene_id": "wrong_rack/scene_000182", + "seed": 161820000, + "shared_state": "wrong_rack/scene_000182/shared_state.npz", + "video": "wrong_rack/scene_000182/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000183/left.json", + "scene_id": "wrong_rack/scene_000183", + "seed": 161830000, + "shared_state": "wrong_rack/scene_000183/shared_state.npz", + "video": "wrong_rack/scene_000183/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000183/front.json", + "scene_id": "wrong_rack/scene_000183", + "seed": 161830000, + "shared_state": "wrong_rack/scene_000183/shared_state.npz", + "video": "wrong_rack/scene_000183/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000183/right.json", + "scene_id": "wrong_rack/scene_000183", + "seed": 161830000, + "shared_state": "wrong_rack/scene_000183/shared_state.npz", + "video": "wrong_rack/scene_000183/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000184/left.json", + "scene_id": "wrong_rack/scene_000184", + "seed": 161840000, + "shared_state": "wrong_rack/scene_000184/shared_state.npz", + "video": "wrong_rack/scene_000184/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000184/front.json", + "scene_id": "wrong_rack/scene_000184", + "seed": 161840000, + "shared_state": "wrong_rack/scene_000184/shared_state.npz", + "video": "wrong_rack/scene_000184/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000184/right.json", + "scene_id": "wrong_rack/scene_000184", + "seed": 161840000, + "shared_state": "wrong_rack/scene_000184/shared_state.npz", + "video": "wrong_rack/scene_000184/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000185/left.json", + "scene_id": "wrong_rack/scene_000185", + "seed": 161850000, + "shared_state": "wrong_rack/scene_000185/shared_state.npz", + "video": "wrong_rack/scene_000185/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000185/front.json", + "scene_id": "wrong_rack/scene_000185", + "seed": 161850000, + "shared_state": "wrong_rack/scene_000185/shared_state.npz", + "video": "wrong_rack/scene_000185/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000185/right.json", + "scene_id": "wrong_rack/scene_000185", + "seed": 161850000, + "shared_state": "wrong_rack/scene_000185/shared_state.npz", + "video": "wrong_rack/scene_000185/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000186/left.json", + "scene_id": "wrong_rack/scene_000186", + "seed": 161860000, + "shared_state": "wrong_rack/scene_000186/shared_state.npz", + "video": "wrong_rack/scene_000186/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000186/front.json", + "scene_id": "wrong_rack/scene_000186", + "seed": 161860000, + "shared_state": "wrong_rack/scene_000186/shared_state.npz", + "video": "wrong_rack/scene_000186/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000186/right.json", + "scene_id": "wrong_rack/scene_000186", + "seed": 161860000, + "shared_state": "wrong_rack/scene_000186/shared_state.npz", + "video": "wrong_rack/scene_000186/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000187/left.json", + "scene_id": "wrong_rack/scene_000187", + "seed": 161870001, + "shared_state": "wrong_rack/scene_000187/shared_state.npz", + "video": "wrong_rack/scene_000187/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000187/front.json", + "scene_id": "wrong_rack/scene_000187", + "seed": 161870001, + "shared_state": "wrong_rack/scene_000187/shared_state.npz", + "video": "wrong_rack/scene_000187/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000187/right.json", + "scene_id": "wrong_rack/scene_000187", + "seed": 161870001, + "shared_state": "wrong_rack/scene_000187/shared_state.npz", + "video": "wrong_rack/scene_000187/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000188/left.json", + "scene_id": "wrong_rack/scene_000188", + "seed": 161880000, + "shared_state": "wrong_rack/scene_000188/shared_state.npz", + "video": "wrong_rack/scene_000188/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000188/front.json", + "scene_id": "wrong_rack/scene_000188", + "seed": 161880000, + "shared_state": "wrong_rack/scene_000188/shared_state.npz", + "video": "wrong_rack/scene_000188/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000188/right.json", + "scene_id": "wrong_rack/scene_000188", + "seed": 161880000, + "shared_state": "wrong_rack/scene_000188/shared_state.npz", + "video": "wrong_rack/scene_000188/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000189/left.json", + "scene_id": "wrong_rack/scene_000189", + "seed": 161890001, + "shared_state": "wrong_rack/scene_000189/shared_state.npz", + "video": "wrong_rack/scene_000189/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000189/front.json", + "scene_id": "wrong_rack/scene_000189", + "seed": 161890001, + "shared_state": "wrong_rack/scene_000189/shared_state.npz", + "video": "wrong_rack/scene_000189/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000189/right.json", + "scene_id": "wrong_rack/scene_000189", + "seed": 161890001, + "shared_state": "wrong_rack/scene_000189/shared_state.npz", + "video": "wrong_rack/scene_000189/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000190/left.json", + "scene_id": "wrong_rack/scene_000190", + "seed": 161900000, + "shared_state": "wrong_rack/scene_000190/shared_state.npz", + "video": "wrong_rack/scene_000190/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000190/front.json", + "scene_id": "wrong_rack/scene_000190", + "seed": 161900000, + "shared_state": "wrong_rack/scene_000190/shared_state.npz", + "video": "wrong_rack/scene_000190/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000190/right.json", + "scene_id": "wrong_rack/scene_000190", + "seed": 161900000, + "shared_state": "wrong_rack/scene_000190/shared_state.npz", + "video": "wrong_rack/scene_000190/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000191/left.json", + "scene_id": "wrong_rack/scene_000191", + "seed": 161910000, + "shared_state": "wrong_rack/scene_000191/shared_state.npz", + "video": "wrong_rack/scene_000191/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000191/front.json", + "scene_id": "wrong_rack/scene_000191", + "seed": 161910000, + "shared_state": "wrong_rack/scene_000191/shared_state.npz", + "video": "wrong_rack/scene_000191/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000191/right.json", + "scene_id": "wrong_rack/scene_000191", + "seed": 161910000, + "shared_state": "wrong_rack/scene_000191/shared_state.npz", + "video": "wrong_rack/scene_000191/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000192/left.json", + "scene_id": "wrong_rack/scene_000192", + "seed": 161920000, + "shared_state": "wrong_rack/scene_000192/shared_state.npz", + "video": "wrong_rack/scene_000192/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000192/front.json", + "scene_id": "wrong_rack/scene_000192", + "seed": 161920000, + "shared_state": "wrong_rack/scene_000192/shared_state.npz", + "video": "wrong_rack/scene_000192/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000192/right.json", + "scene_id": "wrong_rack/scene_000192", + "seed": 161920000, + "shared_state": "wrong_rack/scene_000192/shared_state.npz", + "video": "wrong_rack/scene_000192/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000193/left.json", + "scene_id": "wrong_rack/scene_000193", + "seed": 161930000, + "shared_state": "wrong_rack/scene_000193/shared_state.npz", + "video": "wrong_rack/scene_000193/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000193/front.json", + "scene_id": "wrong_rack/scene_000193", + "seed": 161930000, + "shared_state": "wrong_rack/scene_000193/shared_state.npz", + "video": "wrong_rack/scene_000193/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000193/right.json", + "scene_id": "wrong_rack/scene_000193", + "seed": 161930000, + "shared_state": "wrong_rack/scene_000193/shared_state.npz", + "video": "wrong_rack/scene_000193/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000194/left.json", + "scene_id": "wrong_rack/scene_000194", + "seed": 161940000, + "shared_state": "wrong_rack/scene_000194/shared_state.npz", + "video": "wrong_rack/scene_000194/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000194/front.json", + "scene_id": "wrong_rack/scene_000194", + "seed": 161940000, + "shared_state": "wrong_rack/scene_000194/shared_state.npz", + "video": "wrong_rack/scene_000194/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000194/right.json", + "scene_id": "wrong_rack/scene_000194", + "seed": 161940000, + "shared_state": "wrong_rack/scene_000194/shared_state.npz", + "video": "wrong_rack/scene_000194/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000195/left.json", + "scene_id": "wrong_rack/scene_000195", + "seed": 161950001, + "shared_state": "wrong_rack/scene_000195/shared_state.npz", + "video": "wrong_rack/scene_000195/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000195/front.json", + "scene_id": "wrong_rack/scene_000195", + "seed": 161950001, + "shared_state": "wrong_rack/scene_000195/shared_state.npz", + "video": "wrong_rack/scene_000195/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000195/right.json", + "scene_id": "wrong_rack/scene_000195", + "seed": 161950001, + "shared_state": "wrong_rack/scene_000195/shared_state.npz", + "video": "wrong_rack/scene_000195/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000196/left.json", + "scene_id": "wrong_rack/scene_000196", + "seed": 161960000, + "shared_state": "wrong_rack/scene_000196/shared_state.npz", + "video": "wrong_rack/scene_000196/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000196/front.json", + "scene_id": "wrong_rack/scene_000196", + "seed": 161960000, + "shared_state": "wrong_rack/scene_000196/shared_state.npz", + "video": "wrong_rack/scene_000196/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000196/right.json", + "scene_id": "wrong_rack/scene_000196", + "seed": 161960000, + "shared_state": "wrong_rack/scene_000196/shared_state.npz", + "video": "wrong_rack/scene_000196/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000197/left.json", + "scene_id": "wrong_rack/scene_000197", + "seed": 161970000, + "shared_state": "wrong_rack/scene_000197/shared_state.npz", + "video": "wrong_rack/scene_000197/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000197/front.json", + "scene_id": "wrong_rack/scene_000197", + "seed": 161970000, + "shared_state": "wrong_rack/scene_000197/shared_state.npz", + "video": "wrong_rack/scene_000197/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000197/right.json", + "scene_id": "wrong_rack/scene_000197", + "seed": 161970000, + "shared_state": "wrong_rack/scene_000197/shared_state.npz", + "video": "wrong_rack/scene_000197/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000198/left.json", + "scene_id": "wrong_rack/scene_000198", + "seed": 161980000, + "shared_state": "wrong_rack/scene_000198/shared_state.npz", + "video": "wrong_rack/scene_000198/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000198/front.json", + "scene_id": "wrong_rack/scene_000198", + "seed": 161980000, + "shared_state": "wrong_rack/scene_000198/shared_state.npz", + "video": "wrong_rack/scene_000198/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000198/right.json", + "scene_id": "wrong_rack/scene_000198", + "seed": 161980000, + "shared_state": "wrong_rack/scene_000198/shared_state.npz", + "video": "wrong_rack/scene_000198/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000199/left.json", + "scene_id": "wrong_rack/scene_000199", + "seed": 161990000, + "shared_state": "wrong_rack/scene_000199/shared_state.npz", + "video": "wrong_rack/scene_000199/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000199/front.json", + "scene_id": "wrong_rack/scene_000199", + "seed": 161990000, + "shared_state": "wrong_rack/scene_000199/shared_state.npz", + "video": "wrong_rack/scene_000199/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000199/right.json", + "scene_id": "wrong_rack/scene_000199", + "seed": 161990000, + "shared_state": "wrong_rack/scene_000199/shared_state.npz", + "video": "wrong_rack/scene_000199/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000200/left.json", + "scene_id": "wrong_rack/scene_000200", + "seed": 162000000, + "shared_state": "wrong_rack/scene_000200/shared_state.npz", + "video": "wrong_rack/scene_000200/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000200/front.json", + "scene_id": "wrong_rack/scene_000200", + "seed": 162000000, + "shared_state": "wrong_rack/scene_000200/shared_state.npz", + "video": "wrong_rack/scene_000200/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000200/right.json", + "scene_id": "wrong_rack/scene_000200", + "seed": 162000000, + "shared_state": "wrong_rack/scene_000200/shared_state.npz", + "video": "wrong_rack/scene_000200/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000201/left.json", + "scene_id": "wrong_rack/scene_000201", + "seed": 162010000, + "shared_state": "wrong_rack/scene_000201/shared_state.npz", + "video": "wrong_rack/scene_000201/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000201/front.json", + "scene_id": "wrong_rack/scene_000201", + "seed": 162010000, + "shared_state": "wrong_rack/scene_000201/shared_state.npz", + "video": "wrong_rack/scene_000201/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000201/right.json", + "scene_id": "wrong_rack/scene_000201", + "seed": 162010000, + "shared_state": "wrong_rack/scene_000201/shared_state.npz", + "video": "wrong_rack/scene_000201/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000202/left.json", + "scene_id": "wrong_rack/scene_000202", + "seed": 162020000, + "shared_state": "wrong_rack/scene_000202/shared_state.npz", + "video": "wrong_rack/scene_000202/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000202/front.json", + "scene_id": "wrong_rack/scene_000202", + "seed": 162020000, + "shared_state": "wrong_rack/scene_000202/shared_state.npz", + "video": "wrong_rack/scene_000202/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000202/right.json", + "scene_id": "wrong_rack/scene_000202", + "seed": 162020000, + "shared_state": "wrong_rack/scene_000202/shared_state.npz", + "video": "wrong_rack/scene_000202/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000203/left.json", + "scene_id": "wrong_rack/scene_000203", + "seed": 162030000, + "shared_state": "wrong_rack/scene_000203/shared_state.npz", + "video": "wrong_rack/scene_000203/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000203/front.json", + "scene_id": "wrong_rack/scene_000203", + "seed": 162030000, + "shared_state": "wrong_rack/scene_000203/shared_state.npz", + "video": "wrong_rack/scene_000203/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000203/right.json", + "scene_id": "wrong_rack/scene_000203", + "seed": 162030000, + "shared_state": "wrong_rack/scene_000203/shared_state.npz", + "video": "wrong_rack/scene_000203/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000204/left.json", + "scene_id": "wrong_rack/scene_000204", + "seed": 162040001, + "shared_state": "wrong_rack/scene_000204/shared_state.npz", + "video": "wrong_rack/scene_000204/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000204/front.json", + "scene_id": "wrong_rack/scene_000204", + "seed": 162040001, + "shared_state": "wrong_rack/scene_000204/shared_state.npz", + "video": "wrong_rack/scene_000204/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000204/right.json", + "scene_id": "wrong_rack/scene_000204", + "seed": 162040001, + "shared_state": "wrong_rack/scene_000204/shared_state.npz", + "video": "wrong_rack/scene_000204/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000205/left.json", + "scene_id": "wrong_rack/scene_000205", + "seed": 162050000, + "shared_state": "wrong_rack/scene_000205/shared_state.npz", + "video": "wrong_rack/scene_000205/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000205/front.json", + "scene_id": "wrong_rack/scene_000205", + "seed": 162050000, + "shared_state": "wrong_rack/scene_000205/shared_state.npz", + "video": "wrong_rack/scene_000205/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000205/right.json", + "scene_id": "wrong_rack/scene_000205", + "seed": 162050000, + "shared_state": "wrong_rack/scene_000205/shared_state.npz", + "video": "wrong_rack/scene_000205/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000206/left.json", + "scene_id": "wrong_rack/scene_000206", + "seed": 162060000, + "shared_state": "wrong_rack/scene_000206/shared_state.npz", + "video": "wrong_rack/scene_000206/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000206/front.json", + "scene_id": "wrong_rack/scene_000206", + "seed": 162060000, + "shared_state": "wrong_rack/scene_000206/shared_state.npz", + "video": "wrong_rack/scene_000206/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000206/right.json", + "scene_id": "wrong_rack/scene_000206", + "seed": 162060000, + "shared_state": "wrong_rack/scene_000206/shared_state.npz", + "video": "wrong_rack/scene_000206/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000207/left.json", + "scene_id": "wrong_rack/scene_000207", + "seed": 162070000, + "shared_state": "wrong_rack/scene_000207/shared_state.npz", + "video": "wrong_rack/scene_000207/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000207/front.json", + "scene_id": "wrong_rack/scene_000207", + "seed": 162070000, + "shared_state": "wrong_rack/scene_000207/shared_state.npz", + "video": "wrong_rack/scene_000207/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000207/right.json", + "scene_id": "wrong_rack/scene_000207", + "seed": 162070000, + "shared_state": "wrong_rack/scene_000207/shared_state.npz", + "video": "wrong_rack/scene_000207/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000208/left.json", + "scene_id": "wrong_rack/scene_000208", + "seed": 162080000, + "shared_state": "wrong_rack/scene_000208/shared_state.npz", + "video": "wrong_rack/scene_000208/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000208/front.json", + "scene_id": "wrong_rack/scene_000208", + "seed": 162080000, + "shared_state": "wrong_rack/scene_000208/shared_state.npz", + "video": "wrong_rack/scene_000208/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000208/right.json", + "scene_id": "wrong_rack/scene_000208", + "seed": 162080000, + "shared_state": "wrong_rack/scene_000208/shared_state.npz", + "video": "wrong_rack/scene_000208/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000209/left.json", + "scene_id": "wrong_rack/scene_000209", + "seed": 162090000, + "shared_state": "wrong_rack/scene_000209/shared_state.npz", + "video": "wrong_rack/scene_000209/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000209/front.json", + "scene_id": "wrong_rack/scene_000209", + "seed": 162090000, + "shared_state": "wrong_rack/scene_000209/shared_state.npz", + "video": "wrong_rack/scene_000209/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000209/right.json", + "scene_id": "wrong_rack/scene_000209", + "seed": 162090000, + "shared_state": "wrong_rack/scene_000209/shared_state.npz", + "video": "wrong_rack/scene_000209/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000210/left.json", + "scene_id": "wrong_rack/scene_000210", + "seed": 162100000, + "shared_state": "wrong_rack/scene_000210/shared_state.npz", + "video": "wrong_rack/scene_000210/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000210/front.json", + "scene_id": "wrong_rack/scene_000210", + "seed": 162100000, + "shared_state": "wrong_rack/scene_000210/shared_state.npz", + "video": "wrong_rack/scene_000210/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000210/right.json", + "scene_id": "wrong_rack/scene_000210", + "seed": 162100000, + "shared_state": "wrong_rack/scene_000210/shared_state.npz", + "video": "wrong_rack/scene_000210/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000211/left.json", + "scene_id": "wrong_rack/scene_000211", + "seed": 162110000, + "shared_state": "wrong_rack/scene_000211/shared_state.npz", + "video": "wrong_rack/scene_000211/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000211/front.json", + "scene_id": "wrong_rack/scene_000211", + "seed": 162110000, + "shared_state": "wrong_rack/scene_000211/shared_state.npz", + "video": "wrong_rack/scene_000211/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000211/right.json", + "scene_id": "wrong_rack/scene_000211", + "seed": 162110000, + "shared_state": "wrong_rack/scene_000211/shared_state.npz", + "video": "wrong_rack/scene_000211/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000212/left.json", + "scene_id": "wrong_rack/scene_000212", + "seed": 162120000, + "shared_state": "wrong_rack/scene_000212/shared_state.npz", + "video": "wrong_rack/scene_000212/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000212/front.json", + "scene_id": "wrong_rack/scene_000212", + "seed": 162120000, + "shared_state": "wrong_rack/scene_000212/shared_state.npz", + "video": "wrong_rack/scene_000212/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000212/right.json", + "scene_id": "wrong_rack/scene_000212", + "seed": 162120000, + "shared_state": "wrong_rack/scene_000212/shared_state.npz", + "video": "wrong_rack/scene_000212/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000213/left.json", + "scene_id": "wrong_rack/scene_000213", + "seed": 162130000, + "shared_state": "wrong_rack/scene_000213/shared_state.npz", + "video": "wrong_rack/scene_000213/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000213/front.json", + "scene_id": "wrong_rack/scene_000213", + "seed": 162130000, + "shared_state": "wrong_rack/scene_000213/shared_state.npz", + "video": "wrong_rack/scene_000213/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000213/right.json", + "scene_id": "wrong_rack/scene_000213", + "seed": 162130000, + "shared_state": "wrong_rack/scene_000213/shared_state.npz", + "video": "wrong_rack/scene_000213/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000214/left.json", + "scene_id": "wrong_rack/scene_000214", + "seed": 162140000, + "shared_state": "wrong_rack/scene_000214/shared_state.npz", + "video": "wrong_rack/scene_000214/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000214/front.json", + "scene_id": "wrong_rack/scene_000214", + "seed": 162140000, + "shared_state": "wrong_rack/scene_000214/shared_state.npz", + "video": "wrong_rack/scene_000214/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000214/right.json", + "scene_id": "wrong_rack/scene_000214", + "seed": 162140000, + "shared_state": "wrong_rack/scene_000214/shared_state.npz", + "video": "wrong_rack/scene_000214/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000215/left.json", + "scene_id": "wrong_rack/scene_000215", + "seed": 162150000, + "shared_state": "wrong_rack/scene_000215/shared_state.npz", + "video": "wrong_rack/scene_000215/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000215/front.json", + "scene_id": "wrong_rack/scene_000215", + "seed": 162150000, + "shared_state": "wrong_rack/scene_000215/shared_state.npz", + "video": "wrong_rack/scene_000215/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000215/right.json", + "scene_id": "wrong_rack/scene_000215", + "seed": 162150000, + "shared_state": "wrong_rack/scene_000215/shared_state.npz", + "video": "wrong_rack/scene_000215/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000216/left.json", + "scene_id": "wrong_rack/scene_000216", + "seed": 162160000, + "shared_state": "wrong_rack/scene_000216/shared_state.npz", + "video": "wrong_rack/scene_000216/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000216/front.json", + "scene_id": "wrong_rack/scene_000216", + "seed": 162160000, + "shared_state": "wrong_rack/scene_000216/shared_state.npz", + "video": "wrong_rack/scene_000216/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000216/right.json", + "scene_id": "wrong_rack/scene_000216", + "seed": 162160000, + "shared_state": "wrong_rack/scene_000216/shared_state.npz", + "video": "wrong_rack/scene_000216/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000217/left.json", + "scene_id": "wrong_rack/scene_000217", + "seed": 162170000, + "shared_state": "wrong_rack/scene_000217/shared_state.npz", + "video": "wrong_rack/scene_000217/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000217/front.json", + "scene_id": "wrong_rack/scene_000217", + "seed": 162170000, + "shared_state": "wrong_rack/scene_000217/shared_state.npz", + "video": "wrong_rack/scene_000217/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000217/right.json", + "scene_id": "wrong_rack/scene_000217", + "seed": 162170000, + "shared_state": "wrong_rack/scene_000217/shared_state.npz", + "video": "wrong_rack/scene_000217/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000218/left.json", + "scene_id": "wrong_rack/scene_000218", + "seed": 162180000, + "shared_state": "wrong_rack/scene_000218/shared_state.npz", + "video": "wrong_rack/scene_000218/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000218/front.json", + "scene_id": "wrong_rack/scene_000218", + "seed": 162180000, + "shared_state": "wrong_rack/scene_000218/shared_state.npz", + "video": "wrong_rack/scene_000218/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000218/right.json", + "scene_id": "wrong_rack/scene_000218", + "seed": 162180000, + "shared_state": "wrong_rack/scene_000218/shared_state.npz", + "video": "wrong_rack/scene_000218/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000219/left.json", + "scene_id": "wrong_rack/scene_000219", + "seed": 162190000, + "shared_state": "wrong_rack/scene_000219/shared_state.npz", + "video": "wrong_rack/scene_000219/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000219/front.json", + "scene_id": "wrong_rack/scene_000219", + "seed": 162190000, + "shared_state": "wrong_rack/scene_000219/shared_state.npz", + "video": "wrong_rack/scene_000219/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000219/right.json", + "scene_id": "wrong_rack/scene_000219", + "seed": 162190000, + "shared_state": "wrong_rack/scene_000219/shared_state.npz", + "video": "wrong_rack/scene_000219/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000220/left.json", + "scene_id": "wrong_rack/scene_000220", + "seed": 162200000, + "shared_state": "wrong_rack/scene_000220/shared_state.npz", + "video": "wrong_rack/scene_000220/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000220/front.json", + "scene_id": "wrong_rack/scene_000220", + "seed": 162200000, + "shared_state": "wrong_rack/scene_000220/shared_state.npz", + "video": "wrong_rack/scene_000220/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000220/right.json", + "scene_id": "wrong_rack/scene_000220", + "seed": 162200000, + "shared_state": "wrong_rack/scene_000220/shared_state.npz", + "video": "wrong_rack/scene_000220/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000221/left.json", + "scene_id": "wrong_rack/scene_000221", + "seed": 162210000, + "shared_state": "wrong_rack/scene_000221/shared_state.npz", + "video": "wrong_rack/scene_000221/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000221/front.json", + "scene_id": "wrong_rack/scene_000221", + "seed": 162210000, + "shared_state": "wrong_rack/scene_000221/shared_state.npz", + "video": "wrong_rack/scene_000221/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000221/right.json", + "scene_id": "wrong_rack/scene_000221", + "seed": 162210000, + "shared_state": "wrong_rack/scene_000221/shared_state.npz", + "video": "wrong_rack/scene_000221/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000222/left.json", + "scene_id": "wrong_rack/scene_000222", + "seed": 162220000, + "shared_state": "wrong_rack/scene_000222/shared_state.npz", + "video": "wrong_rack/scene_000222/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000222/front.json", + "scene_id": "wrong_rack/scene_000222", + "seed": 162220000, + "shared_state": "wrong_rack/scene_000222/shared_state.npz", + "video": "wrong_rack/scene_000222/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000222/right.json", + "scene_id": "wrong_rack/scene_000222", + "seed": 162220000, + "shared_state": "wrong_rack/scene_000222/shared_state.npz", + "video": "wrong_rack/scene_000222/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000223/left.json", + "scene_id": "wrong_rack/scene_000223", + "seed": 162230000, + "shared_state": "wrong_rack/scene_000223/shared_state.npz", + "video": "wrong_rack/scene_000223/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000223/front.json", + "scene_id": "wrong_rack/scene_000223", + "seed": 162230000, + "shared_state": "wrong_rack/scene_000223/shared_state.npz", + "video": "wrong_rack/scene_000223/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000223/right.json", + "scene_id": "wrong_rack/scene_000223", + "seed": 162230000, + "shared_state": "wrong_rack/scene_000223/shared_state.npz", + "video": "wrong_rack/scene_000223/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000224/left.json", + "scene_id": "wrong_rack/scene_000224", + "seed": 162240000, + "shared_state": "wrong_rack/scene_000224/shared_state.npz", + "video": "wrong_rack/scene_000224/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000224/front.json", + "scene_id": "wrong_rack/scene_000224", + "seed": 162240000, + "shared_state": "wrong_rack/scene_000224/shared_state.npz", + "video": "wrong_rack/scene_000224/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000224/right.json", + "scene_id": "wrong_rack/scene_000224", + "seed": 162240000, + "shared_state": "wrong_rack/scene_000224/shared_state.npz", + "video": "wrong_rack/scene_000224/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000225/left.json", + "scene_id": "wrong_rack/scene_000225", + "seed": 162250000, + "shared_state": "wrong_rack/scene_000225/shared_state.npz", + "video": "wrong_rack/scene_000225/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000225/front.json", + "scene_id": "wrong_rack/scene_000225", + "seed": 162250000, + "shared_state": "wrong_rack/scene_000225/shared_state.npz", + "video": "wrong_rack/scene_000225/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000225/right.json", + "scene_id": "wrong_rack/scene_000225", + "seed": 162250000, + "shared_state": "wrong_rack/scene_000225/shared_state.npz", + "video": "wrong_rack/scene_000225/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000226/left.json", + "scene_id": "wrong_rack/scene_000226", + "seed": 162260000, + "shared_state": "wrong_rack/scene_000226/shared_state.npz", + "video": "wrong_rack/scene_000226/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000226/front.json", + "scene_id": "wrong_rack/scene_000226", + "seed": 162260000, + "shared_state": "wrong_rack/scene_000226/shared_state.npz", + "video": "wrong_rack/scene_000226/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000226/right.json", + "scene_id": "wrong_rack/scene_000226", + "seed": 162260000, + "shared_state": "wrong_rack/scene_000226/shared_state.npz", + "video": "wrong_rack/scene_000226/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000227/left.json", + "scene_id": "wrong_rack/scene_000227", + "seed": 162270000, + "shared_state": "wrong_rack/scene_000227/shared_state.npz", + "video": "wrong_rack/scene_000227/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000227/front.json", + "scene_id": "wrong_rack/scene_000227", + "seed": 162270000, + "shared_state": "wrong_rack/scene_000227/shared_state.npz", + "video": "wrong_rack/scene_000227/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000227/right.json", + "scene_id": "wrong_rack/scene_000227", + "seed": 162270000, + "shared_state": "wrong_rack/scene_000227/shared_state.npz", + "video": "wrong_rack/scene_000227/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000228/left.json", + "scene_id": "wrong_rack/scene_000228", + "seed": 162280000, + "shared_state": "wrong_rack/scene_000228/shared_state.npz", + "video": "wrong_rack/scene_000228/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000228/front.json", + "scene_id": "wrong_rack/scene_000228", + "seed": 162280000, + "shared_state": "wrong_rack/scene_000228/shared_state.npz", + "video": "wrong_rack/scene_000228/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000228/right.json", + "scene_id": "wrong_rack/scene_000228", + "seed": 162280000, + "shared_state": "wrong_rack/scene_000228/shared_state.npz", + "video": "wrong_rack/scene_000228/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000229/left.json", + "scene_id": "wrong_rack/scene_000229", + "seed": 162290000, + "shared_state": "wrong_rack/scene_000229/shared_state.npz", + "video": "wrong_rack/scene_000229/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000229/front.json", + "scene_id": "wrong_rack/scene_000229", + "seed": 162290000, + "shared_state": "wrong_rack/scene_000229/shared_state.npz", + "video": "wrong_rack/scene_000229/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000229/right.json", + "scene_id": "wrong_rack/scene_000229", + "seed": 162290000, + "shared_state": "wrong_rack/scene_000229/shared_state.npz", + "video": "wrong_rack/scene_000229/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000230/left.json", + "scene_id": "wrong_rack/scene_000230", + "seed": 162300000, + "shared_state": "wrong_rack/scene_000230/shared_state.npz", + "video": "wrong_rack/scene_000230/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000230/front.json", + "scene_id": "wrong_rack/scene_000230", + "seed": 162300000, + "shared_state": "wrong_rack/scene_000230/shared_state.npz", + "video": "wrong_rack/scene_000230/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000230/right.json", + "scene_id": "wrong_rack/scene_000230", + "seed": 162300000, + "shared_state": "wrong_rack/scene_000230/shared_state.npz", + "video": "wrong_rack/scene_000230/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000231/left.json", + "scene_id": "wrong_rack/scene_000231", + "seed": 162310000, + "shared_state": "wrong_rack/scene_000231/shared_state.npz", + "video": "wrong_rack/scene_000231/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000231/front.json", + "scene_id": "wrong_rack/scene_000231", + "seed": 162310000, + "shared_state": "wrong_rack/scene_000231/shared_state.npz", + "video": "wrong_rack/scene_000231/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000231/right.json", + "scene_id": "wrong_rack/scene_000231", + "seed": 162310000, + "shared_state": "wrong_rack/scene_000231/shared_state.npz", + "video": "wrong_rack/scene_000231/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000232/left.json", + "scene_id": "wrong_rack/scene_000232", + "seed": 162320000, + "shared_state": "wrong_rack/scene_000232/shared_state.npz", + "video": "wrong_rack/scene_000232/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000232/front.json", + "scene_id": "wrong_rack/scene_000232", + "seed": 162320000, + "shared_state": "wrong_rack/scene_000232/shared_state.npz", + "video": "wrong_rack/scene_000232/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000232/right.json", + "scene_id": "wrong_rack/scene_000232", + "seed": 162320000, + "shared_state": "wrong_rack/scene_000232/shared_state.npz", + "video": "wrong_rack/scene_000232/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000233/left.json", + "scene_id": "wrong_rack/scene_000233", + "seed": 162330000, + "shared_state": "wrong_rack/scene_000233/shared_state.npz", + "video": "wrong_rack/scene_000233/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000233/front.json", + "scene_id": "wrong_rack/scene_000233", + "seed": 162330000, + "shared_state": "wrong_rack/scene_000233/shared_state.npz", + "video": "wrong_rack/scene_000233/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000233/right.json", + "scene_id": "wrong_rack/scene_000233", + "seed": 162330000, + "shared_state": "wrong_rack/scene_000233/shared_state.npz", + "video": "wrong_rack/scene_000233/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000234/left.json", + "scene_id": "wrong_rack/scene_000234", + "seed": 162340000, + "shared_state": "wrong_rack/scene_000234/shared_state.npz", + "video": "wrong_rack/scene_000234/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000234/front.json", + "scene_id": "wrong_rack/scene_000234", + "seed": 162340000, + "shared_state": "wrong_rack/scene_000234/shared_state.npz", + "video": "wrong_rack/scene_000234/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000234/right.json", + "scene_id": "wrong_rack/scene_000234", + "seed": 162340000, + "shared_state": "wrong_rack/scene_000234/shared_state.npz", + "video": "wrong_rack/scene_000234/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000235/left.json", + "scene_id": "wrong_rack/scene_000235", + "seed": 162350000, + "shared_state": "wrong_rack/scene_000235/shared_state.npz", + "video": "wrong_rack/scene_000235/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000235/front.json", + "scene_id": "wrong_rack/scene_000235", + "seed": 162350000, + "shared_state": "wrong_rack/scene_000235/shared_state.npz", + "video": "wrong_rack/scene_000235/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000235/right.json", + "scene_id": "wrong_rack/scene_000235", + "seed": 162350000, + "shared_state": "wrong_rack/scene_000235/shared_state.npz", + "video": "wrong_rack/scene_000235/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000236/left.json", + "scene_id": "wrong_rack/scene_000236", + "seed": 162360000, + "shared_state": "wrong_rack/scene_000236/shared_state.npz", + "video": "wrong_rack/scene_000236/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000236/front.json", + "scene_id": "wrong_rack/scene_000236", + "seed": 162360000, + "shared_state": "wrong_rack/scene_000236/shared_state.npz", + "video": "wrong_rack/scene_000236/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000236/right.json", + "scene_id": "wrong_rack/scene_000236", + "seed": 162360000, + "shared_state": "wrong_rack/scene_000236/shared_state.npz", + "video": "wrong_rack/scene_000236/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000237/left.json", + "scene_id": "wrong_rack/scene_000237", + "seed": 162370000, + "shared_state": "wrong_rack/scene_000237/shared_state.npz", + "video": "wrong_rack/scene_000237/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000237/front.json", + "scene_id": "wrong_rack/scene_000237", + "seed": 162370000, + "shared_state": "wrong_rack/scene_000237/shared_state.npz", + "video": "wrong_rack/scene_000237/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000237/right.json", + "scene_id": "wrong_rack/scene_000237", + "seed": 162370000, + "shared_state": "wrong_rack/scene_000237/shared_state.npz", + "video": "wrong_rack/scene_000237/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000238/left.json", + "scene_id": "wrong_rack/scene_000238", + "seed": 162380001, + "shared_state": "wrong_rack/scene_000238/shared_state.npz", + "video": "wrong_rack/scene_000238/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000238/front.json", + "scene_id": "wrong_rack/scene_000238", + "seed": 162380001, + "shared_state": "wrong_rack/scene_000238/shared_state.npz", + "video": "wrong_rack/scene_000238/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000238/right.json", + "scene_id": "wrong_rack/scene_000238", + "seed": 162380001, + "shared_state": "wrong_rack/scene_000238/shared_state.npz", + "video": "wrong_rack/scene_000238/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000239/left.json", + "scene_id": "wrong_rack/scene_000239", + "seed": 162390000, + "shared_state": "wrong_rack/scene_000239/shared_state.npz", + "video": "wrong_rack/scene_000239/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000239/front.json", + "scene_id": "wrong_rack/scene_000239", + "seed": 162390000, + "shared_state": "wrong_rack/scene_000239/shared_state.npz", + "video": "wrong_rack/scene_000239/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000239/right.json", + "scene_id": "wrong_rack/scene_000239", + "seed": 162390000, + "shared_state": "wrong_rack/scene_000239/shared_state.npz", + "video": "wrong_rack/scene_000239/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000240/left.json", + "scene_id": "wrong_rack/scene_000240", + "seed": 162400000, + "shared_state": "wrong_rack/scene_000240/shared_state.npz", + "video": "wrong_rack/scene_000240/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000240/front.json", + "scene_id": "wrong_rack/scene_000240", + "seed": 162400000, + "shared_state": "wrong_rack/scene_000240/shared_state.npz", + "video": "wrong_rack/scene_000240/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000240/right.json", + "scene_id": "wrong_rack/scene_000240", + "seed": 162400000, + "shared_state": "wrong_rack/scene_000240/shared_state.npz", + "video": "wrong_rack/scene_000240/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000241/left.json", + "scene_id": "wrong_rack/scene_000241", + "seed": 162410000, + "shared_state": "wrong_rack/scene_000241/shared_state.npz", + "video": "wrong_rack/scene_000241/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000241/front.json", + "scene_id": "wrong_rack/scene_000241", + "seed": 162410000, + "shared_state": "wrong_rack/scene_000241/shared_state.npz", + "video": "wrong_rack/scene_000241/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000241/right.json", + "scene_id": "wrong_rack/scene_000241", + "seed": 162410000, + "shared_state": "wrong_rack/scene_000241/shared_state.npz", + "video": "wrong_rack/scene_000241/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000242/left.json", + "scene_id": "wrong_rack/scene_000242", + "seed": 162420001, + "shared_state": "wrong_rack/scene_000242/shared_state.npz", + "video": "wrong_rack/scene_000242/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000242/front.json", + "scene_id": "wrong_rack/scene_000242", + "seed": 162420001, + "shared_state": "wrong_rack/scene_000242/shared_state.npz", + "video": "wrong_rack/scene_000242/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000242/right.json", + "scene_id": "wrong_rack/scene_000242", + "seed": 162420001, + "shared_state": "wrong_rack/scene_000242/shared_state.npz", + "video": "wrong_rack/scene_000242/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000243/left.json", + "scene_id": "wrong_rack/scene_000243", + "seed": 162430001, + "shared_state": "wrong_rack/scene_000243/shared_state.npz", + "video": "wrong_rack/scene_000243/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000243/front.json", + "scene_id": "wrong_rack/scene_000243", + "seed": 162430001, + "shared_state": "wrong_rack/scene_000243/shared_state.npz", + "video": "wrong_rack/scene_000243/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000243/right.json", + "scene_id": "wrong_rack/scene_000243", + "seed": 162430001, + "shared_state": "wrong_rack/scene_000243/shared_state.npz", + "video": "wrong_rack/scene_000243/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000244/left.json", + "scene_id": "wrong_rack/scene_000244", + "seed": 162440000, + "shared_state": "wrong_rack/scene_000244/shared_state.npz", + "video": "wrong_rack/scene_000244/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000244/front.json", + "scene_id": "wrong_rack/scene_000244", + "seed": 162440000, + "shared_state": "wrong_rack/scene_000244/shared_state.npz", + "video": "wrong_rack/scene_000244/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000244/right.json", + "scene_id": "wrong_rack/scene_000244", + "seed": 162440000, + "shared_state": "wrong_rack/scene_000244/shared_state.npz", + "video": "wrong_rack/scene_000244/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000245/left.json", + "scene_id": "wrong_rack/scene_000245", + "seed": 162450000, + "shared_state": "wrong_rack/scene_000245/shared_state.npz", + "video": "wrong_rack/scene_000245/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000245/front.json", + "scene_id": "wrong_rack/scene_000245", + "seed": 162450000, + "shared_state": "wrong_rack/scene_000245/shared_state.npz", + "video": "wrong_rack/scene_000245/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000245/right.json", + "scene_id": "wrong_rack/scene_000245", + "seed": 162450000, + "shared_state": "wrong_rack/scene_000245/shared_state.npz", + "video": "wrong_rack/scene_000245/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000246/left.json", + "scene_id": "wrong_rack/scene_000246", + "seed": 162460000, + "shared_state": "wrong_rack/scene_000246/shared_state.npz", + "video": "wrong_rack/scene_000246/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000246/front.json", + "scene_id": "wrong_rack/scene_000246", + "seed": 162460000, + "shared_state": "wrong_rack/scene_000246/shared_state.npz", + "video": "wrong_rack/scene_000246/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000246/right.json", + "scene_id": "wrong_rack/scene_000246", + "seed": 162460000, + "shared_state": "wrong_rack/scene_000246/shared_state.npz", + "video": "wrong_rack/scene_000246/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000247/left.json", + "scene_id": "wrong_rack/scene_000247", + "seed": 162470000, + "shared_state": "wrong_rack/scene_000247/shared_state.npz", + "video": "wrong_rack/scene_000247/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000247/front.json", + "scene_id": "wrong_rack/scene_000247", + "seed": 162470000, + "shared_state": "wrong_rack/scene_000247/shared_state.npz", + "video": "wrong_rack/scene_000247/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000247/right.json", + "scene_id": "wrong_rack/scene_000247", + "seed": 162470000, + "shared_state": "wrong_rack/scene_000247/shared_state.npz", + "video": "wrong_rack/scene_000247/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000248/left.json", + "scene_id": "wrong_rack/scene_000248", + "seed": 162480000, + "shared_state": "wrong_rack/scene_000248/shared_state.npz", + "video": "wrong_rack/scene_000248/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000248/front.json", + "scene_id": "wrong_rack/scene_000248", + "seed": 162480000, + "shared_state": "wrong_rack/scene_000248/shared_state.npz", + "video": "wrong_rack/scene_000248/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000248/right.json", + "scene_id": "wrong_rack/scene_000248", + "seed": 162480000, + "shared_state": "wrong_rack/scene_000248/shared_state.npz", + "video": "wrong_rack/scene_000248/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000249/left.json", + "scene_id": "wrong_rack/scene_000249", + "seed": 162490000, + "shared_state": "wrong_rack/scene_000249/shared_state.npz", + "video": "wrong_rack/scene_000249/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000249/front.json", + "scene_id": "wrong_rack/scene_000249", + "seed": 162490000, + "shared_state": "wrong_rack/scene_000249/shared_state.npz", + "video": "wrong_rack/scene_000249/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000249/right.json", + "scene_id": "wrong_rack/scene_000249", + "seed": 162490000, + "shared_state": "wrong_rack/scene_000249/shared_state.npz", + "video": "wrong_rack/scene_000249/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000250/left.json", + "scene_id": "wrong_rack/scene_000250", + "seed": 162500000, + "shared_state": "wrong_rack/scene_000250/shared_state.npz", + "video": "wrong_rack/scene_000250/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000250/front.json", + "scene_id": "wrong_rack/scene_000250", + "seed": 162500000, + "shared_state": "wrong_rack/scene_000250/shared_state.npz", + "video": "wrong_rack/scene_000250/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000250/right.json", + "scene_id": "wrong_rack/scene_000250", + "seed": 162500000, + "shared_state": "wrong_rack/scene_000250/shared_state.npz", + "video": "wrong_rack/scene_000250/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000251/left.json", + "scene_id": "wrong_rack/scene_000251", + "seed": 162510000, + "shared_state": "wrong_rack/scene_000251/shared_state.npz", + "video": "wrong_rack/scene_000251/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000251/front.json", + "scene_id": "wrong_rack/scene_000251", + "seed": 162510000, + "shared_state": "wrong_rack/scene_000251/shared_state.npz", + "video": "wrong_rack/scene_000251/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000251/right.json", + "scene_id": "wrong_rack/scene_000251", + "seed": 162510000, + "shared_state": "wrong_rack/scene_000251/shared_state.npz", + "video": "wrong_rack/scene_000251/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000252/left.json", + "scene_id": "wrong_rack/scene_000252", + "seed": 162520000, + "shared_state": "wrong_rack/scene_000252/shared_state.npz", + "video": "wrong_rack/scene_000252/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000252/front.json", + "scene_id": "wrong_rack/scene_000252", + "seed": 162520000, + "shared_state": "wrong_rack/scene_000252/shared_state.npz", + "video": "wrong_rack/scene_000252/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000252/right.json", + "scene_id": "wrong_rack/scene_000252", + "seed": 162520000, + "shared_state": "wrong_rack/scene_000252/shared_state.npz", + "video": "wrong_rack/scene_000252/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000253/left.json", + "scene_id": "wrong_rack/scene_000253", + "seed": 162530000, + "shared_state": "wrong_rack/scene_000253/shared_state.npz", + "video": "wrong_rack/scene_000253/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000253/front.json", + "scene_id": "wrong_rack/scene_000253", + "seed": 162530000, + "shared_state": "wrong_rack/scene_000253/shared_state.npz", + "video": "wrong_rack/scene_000253/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000253/right.json", + "scene_id": "wrong_rack/scene_000253", + "seed": 162530000, + "shared_state": "wrong_rack/scene_000253/shared_state.npz", + "video": "wrong_rack/scene_000253/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000254/left.json", + "scene_id": "wrong_rack/scene_000254", + "seed": 162540000, + "shared_state": "wrong_rack/scene_000254/shared_state.npz", + "video": "wrong_rack/scene_000254/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000254/front.json", + "scene_id": "wrong_rack/scene_000254", + "seed": 162540000, + "shared_state": "wrong_rack/scene_000254/shared_state.npz", + "video": "wrong_rack/scene_000254/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000254/right.json", + "scene_id": "wrong_rack/scene_000254", + "seed": 162540000, + "shared_state": "wrong_rack/scene_000254/shared_state.npz", + "video": "wrong_rack/scene_000254/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000255/left.json", + "scene_id": "wrong_rack/scene_000255", + "seed": 162550000, + "shared_state": "wrong_rack/scene_000255/shared_state.npz", + "video": "wrong_rack/scene_000255/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000255/front.json", + "scene_id": "wrong_rack/scene_000255", + "seed": 162550000, + "shared_state": "wrong_rack/scene_000255/shared_state.npz", + "video": "wrong_rack/scene_000255/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000255/right.json", + "scene_id": "wrong_rack/scene_000255", + "seed": 162550000, + "shared_state": "wrong_rack/scene_000255/shared_state.npz", + "video": "wrong_rack/scene_000255/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000256/left.json", + "scene_id": "wrong_rack/scene_000256", + "seed": 162560003, + "shared_state": "wrong_rack/scene_000256/shared_state.npz", + "video": "wrong_rack/scene_000256/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000256/front.json", + "scene_id": "wrong_rack/scene_000256", + "seed": 162560003, + "shared_state": "wrong_rack/scene_000256/shared_state.npz", + "video": "wrong_rack/scene_000256/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000256/right.json", + "scene_id": "wrong_rack/scene_000256", + "seed": 162560003, + "shared_state": "wrong_rack/scene_000256/shared_state.npz", + "video": "wrong_rack/scene_000256/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000257/left.json", + "scene_id": "wrong_rack/scene_000257", + "seed": 162570000, + "shared_state": "wrong_rack/scene_000257/shared_state.npz", + "video": "wrong_rack/scene_000257/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000257/front.json", + "scene_id": "wrong_rack/scene_000257", + "seed": 162570000, + "shared_state": "wrong_rack/scene_000257/shared_state.npz", + "video": "wrong_rack/scene_000257/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000257/right.json", + "scene_id": "wrong_rack/scene_000257", + "seed": 162570000, + "shared_state": "wrong_rack/scene_000257/shared_state.npz", + "video": "wrong_rack/scene_000257/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000258/left.json", + "scene_id": "wrong_rack/scene_000258", + "seed": 162580000, + "shared_state": "wrong_rack/scene_000258/shared_state.npz", + "video": "wrong_rack/scene_000258/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000258/front.json", + "scene_id": "wrong_rack/scene_000258", + "seed": 162580000, + "shared_state": "wrong_rack/scene_000258/shared_state.npz", + "video": "wrong_rack/scene_000258/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000258/right.json", + "scene_id": "wrong_rack/scene_000258", + "seed": 162580000, + "shared_state": "wrong_rack/scene_000258/shared_state.npz", + "video": "wrong_rack/scene_000258/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000259/left.json", + "scene_id": "wrong_rack/scene_000259", + "seed": 162590000, + "shared_state": "wrong_rack/scene_000259/shared_state.npz", + "video": "wrong_rack/scene_000259/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000259/front.json", + "scene_id": "wrong_rack/scene_000259", + "seed": 162590000, + "shared_state": "wrong_rack/scene_000259/shared_state.npz", + "video": "wrong_rack/scene_000259/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000259/right.json", + "scene_id": "wrong_rack/scene_000259", + "seed": 162590000, + "shared_state": "wrong_rack/scene_000259/shared_state.npz", + "video": "wrong_rack/scene_000259/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000260/left.json", + "scene_id": "wrong_rack/scene_000260", + "seed": 162600000, + "shared_state": "wrong_rack/scene_000260/shared_state.npz", + "video": "wrong_rack/scene_000260/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000260/front.json", + "scene_id": "wrong_rack/scene_000260", + "seed": 162600000, + "shared_state": "wrong_rack/scene_000260/shared_state.npz", + "video": "wrong_rack/scene_000260/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000260/right.json", + "scene_id": "wrong_rack/scene_000260", + "seed": 162600000, + "shared_state": "wrong_rack/scene_000260/shared_state.npz", + "video": "wrong_rack/scene_000260/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000261/left.json", + "scene_id": "wrong_rack/scene_000261", + "seed": 162610000, + "shared_state": "wrong_rack/scene_000261/shared_state.npz", + "video": "wrong_rack/scene_000261/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000261/front.json", + "scene_id": "wrong_rack/scene_000261", + "seed": 162610000, + "shared_state": "wrong_rack/scene_000261/shared_state.npz", + "video": "wrong_rack/scene_000261/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000261/right.json", + "scene_id": "wrong_rack/scene_000261", + "seed": 162610000, + "shared_state": "wrong_rack/scene_000261/shared_state.npz", + "video": "wrong_rack/scene_000261/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000262/left.json", + "scene_id": "wrong_rack/scene_000262", + "seed": 162620000, + "shared_state": "wrong_rack/scene_000262/shared_state.npz", + "video": "wrong_rack/scene_000262/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000262/front.json", + "scene_id": "wrong_rack/scene_000262", + "seed": 162620000, + "shared_state": "wrong_rack/scene_000262/shared_state.npz", + "video": "wrong_rack/scene_000262/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000262/right.json", + "scene_id": "wrong_rack/scene_000262", + "seed": 162620000, + "shared_state": "wrong_rack/scene_000262/shared_state.npz", + "video": "wrong_rack/scene_000262/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000263/left.json", + "scene_id": "wrong_rack/scene_000263", + "seed": 162630000, + "shared_state": "wrong_rack/scene_000263/shared_state.npz", + "video": "wrong_rack/scene_000263/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000263/front.json", + "scene_id": "wrong_rack/scene_000263", + "seed": 162630000, + "shared_state": "wrong_rack/scene_000263/shared_state.npz", + "video": "wrong_rack/scene_000263/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000263/right.json", + "scene_id": "wrong_rack/scene_000263", + "seed": 162630000, + "shared_state": "wrong_rack/scene_000263/shared_state.npz", + "video": "wrong_rack/scene_000263/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000264/left.json", + "scene_id": "wrong_rack/scene_000264", + "seed": 162640000, + "shared_state": "wrong_rack/scene_000264/shared_state.npz", + "video": "wrong_rack/scene_000264/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000264/front.json", + "scene_id": "wrong_rack/scene_000264", + "seed": 162640000, + "shared_state": "wrong_rack/scene_000264/shared_state.npz", + "video": "wrong_rack/scene_000264/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000264/right.json", + "scene_id": "wrong_rack/scene_000264", + "seed": 162640000, + "shared_state": "wrong_rack/scene_000264/shared_state.npz", + "video": "wrong_rack/scene_000264/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000265/left.json", + "scene_id": "wrong_rack/scene_000265", + "seed": 162650000, + "shared_state": "wrong_rack/scene_000265/shared_state.npz", + "video": "wrong_rack/scene_000265/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000265/front.json", + "scene_id": "wrong_rack/scene_000265", + "seed": 162650000, + "shared_state": "wrong_rack/scene_000265/shared_state.npz", + "video": "wrong_rack/scene_000265/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000265/right.json", + "scene_id": "wrong_rack/scene_000265", + "seed": 162650000, + "shared_state": "wrong_rack/scene_000265/shared_state.npz", + "video": "wrong_rack/scene_000265/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000266/left.json", + "scene_id": "wrong_rack/scene_000266", + "seed": 162660000, + "shared_state": "wrong_rack/scene_000266/shared_state.npz", + "video": "wrong_rack/scene_000266/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000266/front.json", + "scene_id": "wrong_rack/scene_000266", + "seed": 162660000, + "shared_state": "wrong_rack/scene_000266/shared_state.npz", + "video": "wrong_rack/scene_000266/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000266/right.json", + "scene_id": "wrong_rack/scene_000266", + "seed": 162660000, + "shared_state": "wrong_rack/scene_000266/shared_state.npz", + "video": "wrong_rack/scene_000266/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000267/left.json", + "scene_id": "wrong_rack/scene_000267", + "seed": 162670000, + "shared_state": "wrong_rack/scene_000267/shared_state.npz", + "video": "wrong_rack/scene_000267/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000267/front.json", + "scene_id": "wrong_rack/scene_000267", + "seed": 162670000, + "shared_state": "wrong_rack/scene_000267/shared_state.npz", + "video": "wrong_rack/scene_000267/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000267/right.json", + "scene_id": "wrong_rack/scene_000267", + "seed": 162670000, + "shared_state": "wrong_rack/scene_000267/shared_state.npz", + "video": "wrong_rack/scene_000267/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000268/left.json", + "scene_id": "wrong_rack/scene_000268", + "seed": 162680000, + "shared_state": "wrong_rack/scene_000268/shared_state.npz", + "video": "wrong_rack/scene_000268/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000268/front.json", + "scene_id": "wrong_rack/scene_000268", + "seed": 162680000, + "shared_state": "wrong_rack/scene_000268/shared_state.npz", + "video": "wrong_rack/scene_000268/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000268/right.json", + "scene_id": "wrong_rack/scene_000268", + "seed": 162680000, + "shared_state": "wrong_rack/scene_000268/shared_state.npz", + "video": "wrong_rack/scene_000268/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000269/left.json", + "scene_id": "wrong_rack/scene_000269", + "seed": 162690000, + "shared_state": "wrong_rack/scene_000269/shared_state.npz", + "video": "wrong_rack/scene_000269/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000269/front.json", + "scene_id": "wrong_rack/scene_000269", + "seed": 162690000, + "shared_state": "wrong_rack/scene_000269/shared_state.npz", + "video": "wrong_rack/scene_000269/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000269/right.json", + "scene_id": "wrong_rack/scene_000269", + "seed": 162690000, + "shared_state": "wrong_rack/scene_000269/shared_state.npz", + "video": "wrong_rack/scene_000269/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000270/left.json", + "scene_id": "wrong_rack/scene_000270", + "seed": 162700000, + "shared_state": "wrong_rack/scene_000270/shared_state.npz", + "video": "wrong_rack/scene_000270/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000270/front.json", + "scene_id": "wrong_rack/scene_000270", + "seed": 162700000, + "shared_state": "wrong_rack/scene_000270/shared_state.npz", + "video": "wrong_rack/scene_000270/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000270/right.json", + "scene_id": "wrong_rack/scene_000270", + "seed": 162700000, + "shared_state": "wrong_rack/scene_000270/shared_state.npz", + "video": "wrong_rack/scene_000270/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000271/left.json", + "scene_id": "wrong_rack/scene_000271", + "seed": 162710000, + "shared_state": "wrong_rack/scene_000271/shared_state.npz", + "video": "wrong_rack/scene_000271/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000271/front.json", + "scene_id": "wrong_rack/scene_000271", + "seed": 162710000, + "shared_state": "wrong_rack/scene_000271/shared_state.npz", + "video": "wrong_rack/scene_000271/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000271/right.json", + "scene_id": "wrong_rack/scene_000271", + "seed": 162710000, + "shared_state": "wrong_rack/scene_000271/shared_state.npz", + "video": "wrong_rack/scene_000271/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000272/left.json", + "scene_id": "wrong_rack/scene_000272", + "seed": 162720000, + "shared_state": "wrong_rack/scene_000272/shared_state.npz", + "video": "wrong_rack/scene_000272/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000272/front.json", + "scene_id": "wrong_rack/scene_000272", + "seed": 162720000, + "shared_state": "wrong_rack/scene_000272/shared_state.npz", + "video": "wrong_rack/scene_000272/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000272/right.json", + "scene_id": "wrong_rack/scene_000272", + "seed": 162720000, + "shared_state": "wrong_rack/scene_000272/shared_state.npz", + "video": "wrong_rack/scene_000272/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000273/left.json", + "scene_id": "wrong_rack/scene_000273", + "seed": 162730000, + "shared_state": "wrong_rack/scene_000273/shared_state.npz", + "video": "wrong_rack/scene_000273/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000273/front.json", + "scene_id": "wrong_rack/scene_000273", + "seed": 162730000, + "shared_state": "wrong_rack/scene_000273/shared_state.npz", + "video": "wrong_rack/scene_000273/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000273/right.json", + "scene_id": "wrong_rack/scene_000273", + "seed": 162730000, + "shared_state": "wrong_rack/scene_000273/shared_state.npz", + "video": "wrong_rack/scene_000273/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000274/left.json", + "scene_id": "wrong_rack/scene_000274", + "seed": 162740000, + "shared_state": "wrong_rack/scene_000274/shared_state.npz", + "video": "wrong_rack/scene_000274/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000274/front.json", + "scene_id": "wrong_rack/scene_000274", + "seed": 162740000, + "shared_state": "wrong_rack/scene_000274/shared_state.npz", + "video": "wrong_rack/scene_000274/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000274/right.json", + "scene_id": "wrong_rack/scene_000274", + "seed": 162740000, + "shared_state": "wrong_rack/scene_000274/shared_state.npz", + "video": "wrong_rack/scene_000274/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000275/left.json", + "scene_id": "wrong_rack/scene_000275", + "seed": 162750000, + "shared_state": "wrong_rack/scene_000275/shared_state.npz", + "video": "wrong_rack/scene_000275/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000275/front.json", + "scene_id": "wrong_rack/scene_000275", + "seed": 162750000, + "shared_state": "wrong_rack/scene_000275/shared_state.npz", + "video": "wrong_rack/scene_000275/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000275/right.json", + "scene_id": "wrong_rack/scene_000275", + "seed": 162750000, + "shared_state": "wrong_rack/scene_000275/shared_state.npz", + "video": "wrong_rack/scene_000275/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000276/left.json", + "scene_id": "wrong_rack/scene_000276", + "seed": 162760000, + "shared_state": "wrong_rack/scene_000276/shared_state.npz", + "video": "wrong_rack/scene_000276/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000276/front.json", + "scene_id": "wrong_rack/scene_000276", + "seed": 162760000, + "shared_state": "wrong_rack/scene_000276/shared_state.npz", + "video": "wrong_rack/scene_000276/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000276/right.json", + "scene_id": "wrong_rack/scene_000276", + "seed": 162760000, + "shared_state": "wrong_rack/scene_000276/shared_state.npz", + "video": "wrong_rack/scene_000276/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000277/left.json", + "scene_id": "wrong_rack/scene_000277", + "seed": 162770000, + "shared_state": "wrong_rack/scene_000277/shared_state.npz", + "video": "wrong_rack/scene_000277/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000277/front.json", + "scene_id": "wrong_rack/scene_000277", + "seed": 162770000, + "shared_state": "wrong_rack/scene_000277/shared_state.npz", + "video": "wrong_rack/scene_000277/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000277/right.json", + "scene_id": "wrong_rack/scene_000277", + "seed": 162770000, + "shared_state": "wrong_rack/scene_000277/shared_state.npz", + "video": "wrong_rack/scene_000277/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000278/left.json", + "scene_id": "wrong_rack/scene_000278", + "seed": 162780000, + "shared_state": "wrong_rack/scene_000278/shared_state.npz", + "video": "wrong_rack/scene_000278/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000278/front.json", + "scene_id": "wrong_rack/scene_000278", + "seed": 162780000, + "shared_state": "wrong_rack/scene_000278/shared_state.npz", + "video": "wrong_rack/scene_000278/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000278/right.json", + "scene_id": "wrong_rack/scene_000278", + "seed": 162780000, + "shared_state": "wrong_rack/scene_000278/shared_state.npz", + "video": "wrong_rack/scene_000278/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000279/left.json", + "scene_id": "wrong_rack/scene_000279", + "seed": 162790000, + "shared_state": "wrong_rack/scene_000279/shared_state.npz", + "video": "wrong_rack/scene_000279/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000279/front.json", + "scene_id": "wrong_rack/scene_000279", + "seed": 162790000, + "shared_state": "wrong_rack/scene_000279/shared_state.npz", + "video": "wrong_rack/scene_000279/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000279/right.json", + "scene_id": "wrong_rack/scene_000279", + "seed": 162790000, + "shared_state": "wrong_rack/scene_000279/shared_state.npz", + "video": "wrong_rack/scene_000279/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000280/left.json", + "scene_id": "wrong_rack/scene_000280", + "seed": 162800000, + "shared_state": "wrong_rack/scene_000280/shared_state.npz", + "video": "wrong_rack/scene_000280/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000280/front.json", + "scene_id": "wrong_rack/scene_000280", + "seed": 162800000, + "shared_state": "wrong_rack/scene_000280/shared_state.npz", + "video": "wrong_rack/scene_000280/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000280/right.json", + "scene_id": "wrong_rack/scene_000280", + "seed": 162800000, + "shared_state": "wrong_rack/scene_000280/shared_state.npz", + "video": "wrong_rack/scene_000280/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000281/left.json", + "scene_id": "wrong_rack/scene_000281", + "seed": 162810000, + "shared_state": "wrong_rack/scene_000281/shared_state.npz", + "video": "wrong_rack/scene_000281/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000281/front.json", + "scene_id": "wrong_rack/scene_000281", + "seed": 162810000, + "shared_state": "wrong_rack/scene_000281/shared_state.npz", + "video": "wrong_rack/scene_000281/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000281/right.json", + "scene_id": "wrong_rack/scene_000281", + "seed": 162810000, + "shared_state": "wrong_rack/scene_000281/shared_state.npz", + "video": "wrong_rack/scene_000281/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000282/left.json", + "scene_id": "wrong_rack/scene_000282", + "seed": 162820000, + "shared_state": "wrong_rack/scene_000282/shared_state.npz", + "video": "wrong_rack/scene_000282/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000282/front.json", + "scene_id": "wrong_rack/scene_000282", + "seed": 162820000, + "shared_state": "wrong_rack/scene_000282/shared_state.npz", + "video": "wrong_rack/scene_000282/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000282/right.json", + "scene_id": "wrong_rack/scene_000282", + "seed": 162820000, + "shared_state": "wrong_rack/scene_000282/shared_state.npz", + "video": "wrong_rack/scene_000282/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000283/left.json", + "scene_id": "wrong_rack/scene_000283", + "seed": 162830000, + "shared_state": "wrong_rack/scene_000283/shared_state.npz", + "video": "wrong_rack/scene_000283/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000283/front.json", + "scene_id": "wrong_rack/scene_000283", + "seed": 162830000, + "shared_state": "wrong_rack/scene_000283/shared_state.npz", + "video": "wrong_rack/scene_000283/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000283/right.json", + "scene_id": "wrong_rack/scene_000283", + "seed": 162830000, + "shared_state": "wrong_rack/scene_000283/shared_state.npz", + "video": "wrong_rack/scene_000283/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000284/left.json", + "scene_id": "wrong_rack/scene_000284", + "seed": 162840000, + "shared_state": "wrong_rack/scene_000284/shared_state.npz", + "video": "wrong_rack/scene_000284/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000284/front.json", + "scene_id": "wrong_rack/scene_000284", + "seed": 162840000, + "shared_state": "wrong_rack/scene_000284/shared_state.npz", + "video": "wrong_rack/scene_000284/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000284/right.json", + "scene_id": "wrong_rack/scene_000284", + "seed": 162840000, + "shared_state": "wrong_rack/scene_000284/shared_state.npz", + "video": "wrong_rack/scene_000284/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000285/left.json", + "scene_id": "wrong_rack/scene_000285", + "seed": 162850000, + "shared_state": "wrong_rack/scene_000285/shared_state.npz", + "video": "wrong_rack/scene_000285/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000285/front.json", + "scene_id": "wrong_rack/scene_000285", + "seed": 162850000, + "shared_state": "wrong_rack/scene_000285/shared_state.npz", + "video": "wrong_rack/scene_000285/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000285/right.json", + "scene_id": "wrong_rack/scene_000285", + "seed": 162850000, + "shared_state": "wrong_rack/scene_000285/shared_state.npz", + "video": "wrong_rack/scene_000285/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000286/left.json", + "scene_id": "wrong_rack/scene_000286", + "seed": 162860000, + "shared_state": "wrong_rack/scene_000286/shared_state.npz", + "video": "wrong_rack/scene_000286/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000286/front.json", + "scene_id": "wrong_rack/scene_000286", + "seed": 162860000, + "shared_state": "wrong_rack/scene_000286/shared_state.npz", + "video": "wrong_rack/scene_000286/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000286/right.json", + "scene_id": "wrong_rack/scene_000286", + "seed": 162860000, + "shared_state": "wrong_rack/scene_000286/shared_state.npz", + "video": "wrong_rack/scene_000286/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000287/left.json", + "scene_id": "wrong_rack/scene_000287", + "seed": 162870000, + "shared_state": "wrong_rack/scene_000287/shared_state.npz", + "video": "wrong_rack/scene_000287/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000287/front.json", + "scene_id": "wrong_rack/scene_000287", + "seed": 162870000, + "shared_state": "wrong_rack/scene_000287/shared_state.npz", + "video": "wrong_rack/scene_000287/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000287/right.json", + "scene_id": "wrong_rack/scene_000287", + "seed": 162870000, + "shared_state": "wrong_rack/scene_000287/shared_state.npz", + "video": "wrong_rack/scene_000287/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000288/left.json", + "scene_id": "wrong_rack/scene_000288", + "seed": 162880000, + "shared_state": "wrong_rack/scene_000288/shared_state.npz", + "video": "wrong_rack/scene_000288/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000288/front.json", + "scene_id": "wrong_rack/scene_000288", + "seed": 162880000, + "shared_state": "wrong_rack/scene_000288/shared_state.npz", + "video": "wrong_rack/scene_000288/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000288/right.json", + "scene_id": "wrong_rack/scene_000288", + "seed": 162880000, + "shared_state": "wrong_rack/scene_000288/shared_state.npz", + "video": "wrong_rack/scene_000288/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000289/left.json", + "scene_id": "wrong_rack/scene_000289", + "seed": 162890000, + "shared_state": "wrong_rack/scene_000289/shared_state.npz", + "video": "wrong_rack/scene_000289/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000289/front.json", + "scene_id": "wrong_rack/scene_000289", + "seed": 162890000, + "shared_state": "wrong_rack/scene_000289/shared_state.npz", + "video": "wrong_rack/scene_000289/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000289/right.json", + "scene_id": "wrong_rack/scene_000289", + "seed": 162890000, + "shared_state": "wrong_rack/scene_000289/shared_state.npz", + "video": "wrong_rack/scene_000289/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000290/left.json", + "scene_id": "wrong_rack/scene_000290", + "seed": 162900000, + "shared_state": "wrong_rack/scene_000290/shared_state.npz", + "video": "wrong_rack/scene_000290/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000290/front.json", + "scene_id": "wrong_rack/scene_000290", + "seed": 162900000, + "shared_state": "wrong_rack/scene_000290/shared_state.npz", + "video": "wrong_rack/scene_000290/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000290/right.json", + "scene_id": "wrong_rack/scene_000290", + "seed": 162900000, + "shared_state": "wrong_rack/scene_000290/shared_state.npz", + "video": "wrong_rack/scene_000290/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000291/left.json", + "scene_id": "wrong_rack/scene_000291", + "seed": 162910000, + "shared_state": "wrong_rack/scene_000291/shared_state.npz", + "video": "wrong_rack/scene_000291/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000291/front.json", + "scene_id": "wrong_rack/scene_000291", + "seed": 162910000, + "shared_state": "wrong_rack/scene_000291/shared_state.npz", + "video": "wrong_rack/scene_000291/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000291/right.json", + "scene_id": "wrong_rack/scene_000291", + "seed": 162910000, + "shared_state": "wrong_rack/scene_000291/shared_state.npz", + "video": "wrong_rack/scene_000291/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000292/left.json", + "scene_id": "wrong_rack/scene_000292", + "seed": 162920000, + "shared_state": "wrong_rack/scene_000292/shared_state.npz", + "video": "wrong_rack/scene_000292/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000292/front.json", + "scene_id": "wrong_rack/scene_000292", + "seed": 162920000, + "shared_state": "wrong_rack/scene_000292/shared_state.npz", + "video": "wrong_rack/scene_000292/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000292/right.json", + "scene_id": "wrong_rack/scene_000292", + "seed": 162920000, + "shared_state": "wrong_rack/scene_000292/shared_state.npz", + "video": "wrong_rack/scene_000292/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000293/left.json", + "scene_id": "wrong_rack/scene_000293", + "seed": 162930000, + "shared_state": "wrong_rack/scene_000293/shared_state.npz", + "video": "wrong_rack/scene_000293/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000293/front.json", + "scene_id": "wrong_rack/scene_000293", + "seed": 162930000, + "shared_state": "wrong_rack/scene_000293/shared_state.npz", + "video": "wrong_rack/scene_000293/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000293/right.json", + "scene_id": "wrong_rack/scene_000293", + "seed": 162930000, + "shared_state": "wrong_rack/scene_000293/shared_state.npz", + "video": "wrong_rack/scene_000293/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000294/left.json", + "scene_id": "wrong_rack/scene_000294", + "seed": 162940000, + "shared_state": "wrong_rack/scene_000294/shared_state.npz", + "video": "wrong_rack/scene_000294/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000294/front.json", + "scene_id": "wrong_rack/scene_000294", + "seed": 162940000, + "shared_state": "wrong_rack/scene_000294/shared_state.npz", + "video": "wrong_rack/scene_000294/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000294/right.json", + "scene_id": "wrong_rack/scene_000294", + "seed": 162940000, + "shared_state": "wrong_rack/scene_000294/shared_state.npz", + "video": "wrong_rack/scene_000294/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000295/left.json", + "scene_id": "wrong_rack/scene_000295", + "seed": 162950000, + "shared_state": "wrong_rack/scene_000295/shared_state.npz", + "video": "wrong_rack/scene_000295/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000295/front.json", + "scene_id": "wrong_rack/scene_000295", + "seed": 162950000, + "shared_state": "wrong_rack/scene_000295/shared_state.npz", + "video": "wrong_rack/scene_000295/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000295/right.json", + "scene_id": "wrong_rack/scene_000295", + "seed": 162950000, + "shared_state": "wrong_rack/scene_000295/shared_state.npz", + "video": "wrong_rack/scene_000295/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000296/left.json", + "scene_id": "wrong_rack/scene_000296", + "seed": 162960000, + "shared_state": "wrong_rack/scene_000296/shared_state.npz", + "video": "wrong_rack/scene_000296/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000296/front.json", + "scene_id": "wrong_rack/scene_000296", + "seed": 162960000, + "shared_state": "wrong_rack/scene_000296/shared_state.npz", + "video": "wrong_rack/scene_000296/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000296/right.json", + "scene_id": "wrong_rack/scene_000296", + "seed": 162960000, + "shared_state": "wrong_rack/scene_000296/shared_state.npz", + "video": "wrong_rack/scene_000296/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000297/left.json", + "scene_id": "wrong_rack/scene_000297", + "seed": 162970000, + "shared_state": "wrong_rack/scene_000297/shared_state.npz", + "video": "wrong_rack/scene_000297/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000297/front.json", + "scene_id": "wrong_rack/scene_000297", + "seed": 162970000, + "shared_state": "wrong_rack/scene_000297/shared_state.npz", + "video": "wrong_rack/scene_000297/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000297/right.json", + "scene_id": "wrong_rack/scene_000297", + "seed": 162970000, + "shared_state": "wrong_rack/scene_000297/shared_state.npz", + "video": "wrong_rack/scene_000297/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000298/left.json", + "scene_id": "wrong_rack/scene_000298", + "seed": 162980000, + "shared_state": "wrong_rack/scene_000298/shared_state.npz", + "video": "wrong_rack/scene_000298/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000298/front.json", + "scene_id": "wrong_rack/scene_000298", + "seed": 162980000, + "shared_state": "wrong_rack/scene_000298/shared_state.npz", + "video": "wrong_rack/scene_000298/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000298/right.json", + "scene_id": "wrong_rack/scene_000298", + "seed": 162980000, + "shared_state": "wrong_rack/scene_000298/shared_state.npz", + "video": "wrong_rack/scene_000298/right.mp4", + "view": "right" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000299/left.json", + "scene_id": "wrong_rack/scene_000299", + "seed": 162990000, + "shared_state": "wrong_rack/scene_000299/shared_state.npz", + "video": "wrong_rack/scene_000299/left.mp4", + "view": "left" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000299/front.json", + "scene_id": "wrong_rack/scene_000299", + "seed": 162990000, + "shared_state": "wrong_rack/scene_000299/shared_state.npz", + "video": "wrong_rack/scene_000299/front.mp4", + "view": "front" + }, + { + "category": "wrong_rack", + "inherited": false, + "metadata": "wrong_rack/scene_000299/right.json", + "scene_id": "wrong_rack/scene_000299", + "seed": 162990000, + "shared_state": "wrong_rack/scene_000299/shared_state.npz", + "video": "wrong_rack/scene_000299/right.mp4", + "view": "right" + } + ], + "views": [ + "left", + "front", + "right" + ] +} diff --git a/generation_contract.json b/generation_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..1f80af0dfc0e9a450ecc258175cde87f25e9971a --- /dev/null +++ b/generation_contract.json @@ -0,0 +1,75 @@ +{ + "camera_rig_sha256": "939f87d8d15f9f12e97add76f8b12596ad7cfa7be273198f1310345ea8d89564", + "episodes_per_category": 300, + "extension_supervisor_sha256": "5fced9c8b91c92ef0726f08d4d715e85e1d82de8171549f35754dbc916566e6b", + "generator": { + "camera_clipping_range_m": [ + 0.05, + 5.0 + ], + "camera_rig_file": "/home/kc019/labos-sim-data/outputs/vortexing_2400scenes_7200videos_1920x1200_20260911/camera_rig.json", + "camera_view": "left", + "env_spacing": 10.0, + "height": 1200, + "max_distractors": 10, + "min_distractors": 4, + "motion_blur_enabled": true, + "motion_blur_exposure_fraction": 0.75, + "motion_blur_samples": 8, + "physics_hz": 120, + "profile": "broad", + "render_fps": 30, + "table_height": 0.76, + "table_size": [ + 1.6, + 1.0, + 0.06 + ], + "width": 1920 + }, + "inherited_index_range": [ + 0, + 99 + ], + "kind": "append_200_per_category", + "new_index_range": [ + 100, + 299 + ], + "quality_gate": "Existing scenes immutable; new rack flips require final tilt >=80 degrees", + "seed_policy": { + "base": 100000000, + "category_stride": 10000000, + "scene_stride": 10000 + }, + "source": "/home/kc019/labos-sim-data/outputs/vortexing_800scenes_2400videos_1920x1200_20260909", + "source_contract_sha256": "f0b5cad316c75df5263d7c1b0dbd6b0279683965aa1b4fa7223bbe4d3d8f8370", + "source_fingerprint": { + "scripts/generate_vortex_multiview_set.py": "15d6a5a7e90a73fcbea057011b942495d5e967805d8e400061627a5bd4f9d479", + "scripts/render_vortex_multiview_scene.py": "b680581d094390db54d5ccf2869802aa45ed30c8dea082f5fdc5c7b0166e0266", + "src/labos_sim_data/__init__.py": "6163f05bda9665d9ae6c1bffd61f4795c97504f4b4d2d8e689efeb6ff177afa8", + "src/labos_sim_data/vortexing/__init__.py": "9d6d6895f6636f821bc59b1d4a7c810f71f3490a0df945e203ef8da7c53c244c", + "src/labos_sim_data/vortexing/assets.py": "b40068a82511f768bcf6d7e5bb445827f61e5d58cd5b63353e1910e19af02607", + "src/labos_sim_data/vortexing/cameras.py": "9dcca8eea9a45d0f468f90baaecda67627ca04078568046f57802ef1ce90e518", + "src/labos_sim_data/vortexing/config.py": "5fe8727a53280db8ec93c3e50c14e7d25b5447a765df0ffaf43e0edaabef34cb", + "src/labos_sim_data/vortexing/metadata.py": "cc10b80c0300280339da59fab53ade0e64a28b0d4f48d13fad0a339bc0bedc5d", + "src/labos_sim_data/vortexing/multiview.py": "8cb17b669077bf7a83f75279061679dd39fae3ea7ec8c7ba2cf7ff9c6ed7804b", + "src/labos_sim_data/vortexing/simulator.py": "c73ce5858732a5e4f10c15193df18b529d345f3092b55c8f1b502b3183b18f7e", + "src/labos_sim_data/vortexing/trajectory.py": "e1efe58dc5c35c8b49bd558f05151b4ac2aefb141cb5d6641508c034da8cf494" + }, + "variant_balance_at_300": { + "drop": [ + 100, + 100, + 100 + ], + "flip": [ + 150, + 150 + ], + "orientation": [ + 150, + 150 + ] + } +} diff --git a/pilot_pipeline_status.json b/pilot_pipeline_status.json new file mode 100644 index 0000000000000000000000000000000000000000..84179eccd22439456f4ff1c9476fa3f678f01e24 --- /dev/null +++ b/pilot_pipeline_status.json @@ -0,0 +1,9 @@ +{ + "ended_at_utc": "2026-09-11T12:08:27.123426+00:00", + "new_completed_scenes": 8, + "pid": 73412, + "run_wall_seconds": 413.2160579620395, + "state": "pilot_complete", + "total_scenes": 808, + "total_videos": 2424 +} diff --git a/tube_drop/scene_000019/front.json b/tube_drop/scene_000019/front.json new file mode 100644 index 0000000000000000000000000000000000000000..0dbff69de6197ea4e014bccf32522fbff44f79e4 --- /dev/null +++ b/tube_drop/scene_000019/front.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ], + "duration_s": 16.39922414037972, + "episode_id": 19, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.2561821459106763, + "direction_azimuth_deg": -60.11689102720237, + "lateral_speed_mps": 0.05792792332255011, + "phase": "lower_to_rack", + "phase_fraction": 0.7849668539021533, + "release_clearance_m": 0.008743376358025762, + "release_tilt_deg": 111.8571627548601, + "stage": "insertion", + "tip_duration_s": 0.45035772966628673, + "trigger_time_s": 15.044149535010519, + "tube_detach_fraction": 0.5113356275888473, + "tube_engagement_fraction": 0.540871062924426, + "tube_on_rack": true, + "upward_speed_mps": 0.06624574451261572 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_yaw_deg": -10.539616811871362, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.57094529156237, + "rack_to_vortex_distance_m": 0.6502937839774519, + "rack_yaw_deg": -10.539616811871362, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position_m": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195 + }, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "effective_peak_level_fraction": 0.6689948737452673, + "effective_vortex_level_rise_fraction": 0.1978597476925785, + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "present": true, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "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": 24450909, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000019", + "schema_version": 15, + "seed": 24450909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "2c2eefa50478f632d48eba9b17f2e5d0d127253cae4908fa06095c77344b443b", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 2.6957247572466594, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + }, + "trajectory_validation": { + "duration_s": 16.39922414037972, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1581094996895894e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009808946734818238, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "video": "front.mp4", + "video_sha256": "b9cafba4e1d276455775a0ca33728f36f7670430026671b0ac6a2f41d1c58d44", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "full_decode_frame_count": 492, + "max_changed_pixel_fraction": 0.00872873263888889, + "mean_luminance": 140.0659637451172, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 31.152706146240234, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195, + "wrong_orientation": { + "azimuth_deg": -146.12116962957663, + "mode": "tilted", + "tilt_deg_from_z": 49.256283792390654 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5388816104355431, + -0.1394866371334975, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 116.89864322556639, + "release_lateral_offset_m": 0.020410696145781372, + "release_phase_fraction": 0.6838026790447522, + "release_tilt_deg": 29.507263636501143, + "release_time_s": 14.906062315758499, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5252178623281626, + -0.1770805460504757, + 0.8500000000000001 + ], + "yaw_deg": -70.02599917433388 + } +} diff --git a/tube_drop/scene_000019/left.json b/tube_drop/scene_000019/left.json new file mode 100644 index 0000000000000000000000000000000000000000..0e55fe32e28a70a3fd1f1e14ccdfafc24f360338 --- /dev/null +++ b/tube_drop/scene_000019/left.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ], + "duration_s": 16.39922414037972, + "episode_id": 19, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.2561821459106763, + "direction_azimuth_deg": -60.11689102720237, + "lateral_speed_mps": 0.05792792332255011, + "phase": "lower_to_rack", + "phase_fraction": 0.7849668539021533, + "release_clearance_m": 0.008743376358025762, + "release_tilt_deg": 111.8571627548601, + "stage": "insertion", + "tip_duration_s": 0.45035772966628673, + "trigger_time_s": 15.044149535010519, + "tube_detach_fraction": 0.5113356275888473, + "tube_engagement_fraction": 0.540871062924426, + "tube_on_rack": true, + "upward_speed_mps": 0.06624574451261572 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_yaw_deg": -10.539616811871362, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.57094529156237, + "rack_to_vortex_distance_m": 0.6502937839774519, + "rack_yaw_deg": -10.539616811871362, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position_m": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195 + }, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "effective_peak_level_fraction": 0.6689948737452673, + "effective_vortex_level_rise_fraction": 0.1978597476925785, + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "present": true, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "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": 24450909, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000019", + "schema_version": 15, + "seed": 24450909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "2c2eefa50478f632d48eba9b17f2e5d0d127253cae4908fa06095c77344b443b", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 2.6957247572466594, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + }, + "trajectory_validation": { + "duration_s": 16.39922414037972, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1581094996895894e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009808946734818238, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "video": "left.mp4", + "video_sha256": "71db29130d60df17562c6cd76d6ef34afa12c34a5f82d9658e8718cbb0468ccc", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "full_decode_frame_count": 492, + "max_changed_pixel_fraction": 0.006900173611111111, + "mean_luminance": 139.06874084472656, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 34.2645378112793, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195, + "wrong_orientation": { + "azimuth_deg": -146.12116962957663, + "mode": "tilted", + "tilt_deg_from_z": 49.256283792390654 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5388816104355431, + -0.1394866371334975, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 116.89864322556639, + "release_lateral_offset_m": 0.020410696145781372, + "release_phase_fraction": 0.6838026790447522, + "release_tilt_deg": 29.507263636501143, + "release_time_s": 14.906062315758499, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5252178623281626, + -0.1770805460504757, + 0.8500000000000001 + ], + "yaw_deg": -70.02599917433388 + } +} diff --git a/tube_drop/scene_000019/metadata.json b/tube_drop/scene_000019/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..9bf414465c76ca65ecd0bd166404b68111f4aa80 --- /dev/null +++ b/tube_drop/scene_000019/metadata.json @@ -0,0 +1,1190 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ], + "duration_s": 16.39922414037972, + "episode_id": 19, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.2561821459106763, + "direction_azimuth_deg": -60.11689102720237, + "lateral_speed_mps": 0.05792792332255011, + "phase": "lower_to_rack", + "phase_fraction": 0.7849668539021533, + "release_clearance_m": 0.008743376358025762, + "release_tilt_deg": 111.8571627548601, + "stage": "insertion", + "tip_duration_s": 0.45035772966628673, + "trigger_time_s": 15.044149535010519, + "tube_detach_fraction": 0.5113356275888473, + "tube_engagement_fraction": 0.540871062924426, + "tube_on_rack": true, + "upward_speed_mps": 0.06624574451261572 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_yaw_deg": -10.539616811871362, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.57094529156237, + "rack_to_vortex_distance_m": 0.6502937839774519, + "rack_yaw_deg": -10.539616811871362, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position_m": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195 + }, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "effective_peak_level_fraction": 0.6689948737452673, + "effective_vortex_level_rise_fraction": 0.1978597476925785, + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "present": true, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "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": 24450909, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + } + }, + "render_and_primary_validation_seconds": 30.669942689943127, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000019", + "schema_version": 15, + "seed": 24450909, + "shared_state_sha256": "2c2eefa50478f632d48eba9b17f2e5d0d127253cae4908fa06095c77344b443b", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 2.6957247572466594, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + }, + "trajectory_validation": { + "duration_s": 16.39922414037972, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1581094996895894e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009808946734818238, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.006900173611111111, + "mean_luminance": 139.06874084472656, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 34.2645378112793, + "valid": true + }, + "views": { + "front": { + "bytes": 23696168, + "metadata": "front.json", + "sha256": "b9cafba4e1d276455775a0ca33728f36f7670430026671b0ac6a2f41d1c58d44", + "video": "front.mp4" + }, + "left": { + "bytes": 20902366, + "metadata": "left.json", + "sha256": "71db29130d60df17562c6cd76d6ef34afa12c34a5f82d9658e8718cbb0468ccc", + "video": "left.mp4" + }, + "right": { + "bytes": 22994553, + "metadata": "right.json", + "sha256": "3d083b2ed8590df20a736c74c15c318aaa1ce2cfead925d5d8d1e7b74ec5526e", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195, + "worker_elapsed_seconds": 47.805710761924274, + "wrong_orientation": { + "azimuth_deg": -146.12116962957663, + "mode": "tilted", + "tilt_deg_from_z": 49.256283792390654 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5388816104355431, + -0.1394866371334975, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 116.89864322556639, + "release_lateral_offset_m": 0.020410696145781372, + "release_phase_fraction": 0.6838026790447522, + "release_tilt_deg": 29.507263636501143, + "release_time_s": 14.906062315758499, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5252178623281626, + -0.1770805460504757, + 0.8500000000000001 + ], + "yaw_deg": -70.02599917433388 + } +} diff --git a/tube_drop/scene_000019/right.json b/tube_drop/scene_000019/right.json new file mode 100644 index 0000000000000000000000000000000000000000..e1fee869f153fecac76bce3687e8364c866bdb57 --- /dev/null +++ b/tube_drop/scene_000019/right.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ], + "duration_s": 16.39922414037972, + "episode_id": 19, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.2561821459106763, + "direction_azimuth_deg": -60.11689102720237, + "lateral_speed_mps": 0.05792792332255011, + "phase": "lower_to_rack", + "phase_fraction": 0.7849668539021533, + "release_clearance_m": 0.008743376358025762, + "release_tilt_deg": 111.8571627548601, + "stage": "insertion", + "tip_duration_s": 0.45035772966628673, + "trigger_time_s": 15.044149535010519, + "tube_detach_fraction": 0.5113356275888473, + "tube_engagement_fraction": 0.540871062924426, + "tube_on_rack": true, + "upward_speed_mps": 0.06624574451261572 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_yaw_deg": -10.539616811871362, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.00807630474744847, + 0.3370112259519103, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9408525398539547, + "yaw_deg": 179.47244209338618 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -90.03286020381745, + "position": [ + 0.59927025117372, + 1.1978308066196157, + 0.8716684331998035 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.035683854083108, + "yaw_deg": 32.143254841111485 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.16514906483048875, + -0.09378521508041648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0695011673683943, + "yaw_deg": -87.70323254030335 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.7531789337699029, + 0.42005631896280443, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7967104265248206, + "yaw_deg": -124.01433964495533 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 89.21819365694435, + "position": [ + -0.8537897823403339, + 1.1077571978223233, + 0.8492820277289215 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.09516196670096, + "yaw_deg": 156.12160593775656 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.44831070237763393, + -0.3384751207982982, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084023594900992, + "yaw_deg": -120.95166123082862 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.3649209857817437, + 1.1757735817172106, + 0.8397598693219817 + ], + "roll_deg": 90.714583135386, + "surface": "rear_bench", + "uniform_scale": 1.0175680573606303, + "yaw_deg": 41.29787527388842 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7042995669851329, + 1.3113550169623847, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.137095885718647, + "yaw_deg": -1.6725650053655272 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.42428783757892186, + 0.08163360171834544, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0623548464629373, + "yaw_deg": -15.470735626833232 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.163959248719883, + 1.2608467726443089, + 0.8493282369812883 + ], + "roll_deg": 87.22746371667661, + "surface": "rear_bench", + "uniform_scale": 1.1140968627981302, + "yaw_deg": -15.04538775845407 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8583489526452299, + 0.5250911323406051, + 0.18770211046641927 + ], + "cabinet_color_rgb": [ + 0.550498531282262, + 0.5729286526023555, + 0.6091682309081208 + ], + "floor_color_rgb": [ + 0.2817981011960821, + 0.3267062577416574, + 0.266141609303689 + ], + "screen_color_rgb": [ + 0.3591031952561269, + 0.7060873274724586, + 0.6659716548201923 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6945276275381113, + 0.8066706240458225, + 0.7384927180198918 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9920171504521701 + ], + "light_intensity": 2463.4035466828154, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14833914358920997, + 0.14406499012174634, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.57094529156237, + "rack_to_vortex_distance_m": 0.6502937839774519, + "rack_yaw_deg": -10.539616811871362, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position_m": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195 + }, + "liquid": { + "color_rgb": [ + 0.04088454443548242, + 0.21866192873595025, + 0.39488118167060265 + ], + "effective_peak_level_fraction": 0.6689948737452673, + "effective_vortex_level_rise_fraction": 0.1978597476925785, + "fill_fraction": 0.4711351260526888, + "opacity": 0.8929203498993494, + "present": true, + "vortex_level_rise_fraction": 0.1978597476925785 + }, + "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": 24450909, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000019", + "schema_version": 15, + "seed": 24450909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "2c2eefa50478f632d48eba9b17f2e5d0d127253cae4908fa06095c77344b443b", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 2.6957247572466594, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.006044068321254895, + "depart_pattern": "s_sway", + "depart_sway_m": 0.006718052290315017, + "handling_noise_amplitude_m": 0.007005235476974311, + "handling_noise_frequency_hz": 1.2009006474826562, + "handling_noise_phase_xyz_rad": [ + 4.125489898256895, + 5.810445623323603, + 2.546739917140243 + ], + "lift_height_m": 0.11697981788417627, + "orientation_noise_deg": 6.4723856713229875, + "outbound_curve_bias": -0.575484112088011, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.337665784547672, + 16.39922414037972 + ], + "initial_hold": [ + 0.0, + 0.9264139237086408 + ], + "lift_from_rack": [ + 0.9264139237086408, + 2.0209673143228426 + ], + "lower_to_rack": [ + 13.972684362550554, + 15.337665784547672 + ], + "lower_to_vortex": [ + 4.616188248645216, + 5.896382771334775 + ], + "raise_from_vortex": [ + 10.341600992226562, + 11.375943010611039 + ], + "transfer_to_rack": [ + 11.375943010611039, + 13.972684362550554 + ], + "transfer_to_vortex": [ + 2.0209673143228426, + 4.616188248645216 + ], + "vortex": [ + 5.896382771334775, + 10.341600992226562 + ] + }, + "pick_line_azimuth_deg": -22.940473840349114, + "pick_line_tilt_deg": 11.408916391632545, + "pick_pattern": "straight", + "pick_sway_m": -0.0034505109033545027, + "put_pattern": "hook", + "put_sway_m": -0.009318842962222181, + "rack_put_height_m": 0.3535930273813501, + "return_bend_scale": 1.4497844058967952, + "return_curve_bias": -0.45218717576453366, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.49704794040164596, + "transfer_bend_m": 0.3035581244424701, + "transfer_side": -1.0, + "transport_tilt_deg": 11.409810698592569, + "vertical_arc_m": 0.3052173336124782, + "vortex_apparent_frequency_hz": 3.635703158703315, + "vortex_approach_height_m": 0.28616044388972167, + "vortex_depart_height_m": 0.17391811555057254, + "vortex_frequency_hz": 26.364296841296685, + "vortex_phase_rad": 3.2481390858098997, + "vortex_radius_m": 0.0005984764419657545, + "vortex_tilt_deg": 0.4442981867615545 + }, + "trajectory_validation": { + "duration_s": 16.39922414037972, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1581094996895894e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009808946734818238, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.26, + "release_time_s": 2.6957247572466594, + "target_surface": "floor", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "floor", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 1.0680467625231138, + "final_angular_speed_deg_s": 10.840874671936035, + "final_linear_speed_mps": 0.004071616567671299, + "final_position_m": [ + 0.08736476302146912, + 0.5964900851249695, + 0.01859879307448864 + ], + "final_protected_visual_minimum_z_m": 0.0002500430744895067, + "final_surface": "floor", + "first_impact_linear_speed_mps": 4.152824878692627, + "first_impact_position_m": [ + 0.1354028582572937, + 0.6283302307128906, + 0.0033414699137210846 + ], + "first_impact_surface": "floor", + "first_impact_time_s": 3.175, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.0006995387375354767, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.13540285511369218, + 0.628330223426447, + 1.0687463012606493 + ], + "release_time_s": 2.6957247572466594, + "support_clearance_m": 0.0002500430744895067, + "support_surface_z_m": 0.0, + "target_surface": "floor", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.17291736026181534, + 0.13949210643697338, + 0.8529 + ], + "tube_start_position": [ + 0.12376092691660458, + 0.1486378738065193, + 0.8529 + ], + "video": "right.mp4", + "video_sha256": "3d083b2ed8590df20a736c74c15c318aaa1ce2cfead925d5d8d1e7b74ec5526e", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "full_decode_frame_count": 492, + "max_changed_pixel_fraction": 0.005990885416666667, + "mean_luminance": 133.04251098632812, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 33.510520935058594, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49667615590778, + 0.295761060471707, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.49493024953324305, + 0.23938808990130556, + 0.79 + ], + "vortex_yaw_deg": 1.773919323980195, + "wrong_orientation": { + "azimuth_deg": -146.12116962957663, + "mode": "tilted", + "tilt_deg_from_z": 49.256283792390654 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5388816104355431, + -0.1394866371334975, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 116.89864322556639, + "release_lateral_offset_m": 0.020410696145781372, + "release_phase_fraction": 0.6838026790447522, + "release_tilt_deg": 29.507263636501143, + "release_time_s": 14.906062315758499, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5252178623281626, + -0.1770805460504757, + 0.8500000000000001 + ], + "yaw_deg": -70.02599917433388 + } +} diff --git a/tube_drop/scene_000046/front.json b/tube_drop/scene_000046/front.json new file mode 100644 index 0000000000000000000000000000000000000000..5f8f04f2f7a75d29215ac8a5fca179ff7816d0b9 --- /dev/null +++ b/tube_drop/scene_000046/front.json @@ -0,0 +1,1063 @@ +{ + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ], + "duration_s": 17.17000939625614, + "episode_id": 46, + "error_type": "tube_drop", + "frame_count": 515, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.6548293923443778, + "direction_azimuth_deg": 66.2903961668712, + "lateral_speed_mps": 0.04506495922944617, + "phase": "lower_to_rack", + "phase_fraction": 0.8011458357642933, + "release_clearance_m": 0.007049724490655141, + "release_tilt_deg": 135.76190255302367, + "stage": "insertion", + "tip_duration_s": 0.30678030504397047, + "trigger_time_s": 16.075422623482584, + "tube_detach_fraction": 0.4825619537915902, + "tube_engagement_fraction": 0.5420401936101742, + "tube_on_rack": true, + "upward_speed_mps": 0.09973916235564233 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_yaw_deg": -54.7175532171773, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_to_vortex_bearing_deg": 153.75059934828317, + "rack_to_vortex_distance_m": 0.6678789375167278, + "rack_yaw_deg": -54.7175532171773, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "tube_return_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663 + }, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "effective_peak_level_fraction": 0.6768245525594758, + "effective_vortex_level_rise_fraction": 0.20284092222064068, + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "present": true, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "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": 24720909, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000046", + "schema_version": 15, + "seed": 24720909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "af5abc54010b13c788bc966a60f5402b87887393253bd4d3dc56203eee55ddb4", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.208992559812422, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + }, + "trajectory_validation": { + "duration_s": 17.17000939625614, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.121025388129348e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007283710271719762, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "8734d8dd0b0580ac0e5cdc299ceec519ab8e2d7c1e50c68082f6b3ddcb34c8a4", + "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": 0.012461371527777777, + "mean_luminance": 137.66390991210938, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 86, + 171, + 257, + 343, + 428, + 514 + ], + "spatial_standard_deviation": 34.439579010009766, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663, + "wrong_orientation": { + "azimuth_deg": 49.39441095530427, + "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": [ + -0.5583287509353945, + 0.30064014551956664, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 178.61750197737138, + "release_lateral_offset_m": 0.02036918999842028, + "release_phase_fraction": 0.749704124984035, + "release_tilt_deg": 24.977019803827858, + "release_time_s": 15.996835498150489, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5583287509353945, + 0.30064014551956664, + 0.8500000000000001 + ], + "yaw_deg": 47.35580205241166 + } +} diff --git a/tube_drop/scene_000046/left.json b/tube_drop/scene_000046/left.json new file mode 100644 index 0000000000000000000000000000000000000000..be4acb7e1583532968c2fd88fbca2c8f98e9af40 --- /dev/null +++ b/tube_drop/scene_000046/left.json @@ -0,0 +1,1063 @@ +{ + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ], + "duration_s": 17.17000939625614, + "episode_id": 46, + "error_type": "tube_drop", + "frame_count": 515, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.6548293923443778, + "direction_azimuth_deg": 66.2903961668712, + "lateral_speed_mps": 0.04506495922944617, + "phase": "lower_to_rack", + "phase_fraction": 0.8011458357642933, + "release_clearance_m": 0.007049724490655141, + "release_tilt_deg": 135.76190255302367, + "stage": "insertion", + "tip_duration_s": 0.30678030504397047, + "trigger_time_s": 16.075422623482584, + "tube_detach_fraction": 0.4825619537915902, + "tube_engagement_fraction": 0.5420401936101742, + "tube_on_rack": true, + "upward_speed_mps": 0.09973916235564233 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_yaw_deg": -54.7175532171773, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_to_vortex_bearing_deg": 153.75059934828317, + "rack_to_vortex_distance_m": 0.6678789375167278, + "rack_yaw_deg": -54.7175532171773, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "tube_return_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663 + }, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "effective_peak_level_fraction": 0.6768245525594758, + "effective_vortex_level_rise_fraction": 0.20284092222064068, + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "present": true, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "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": 24720909, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000046", + "schema_version": 15, + "seed": 24720909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "af5abc54010b13c788bc966a60f5402b87887393253bd4d3dc56203eee55ddb4", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.208992559812422, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + }, + "trajectory_validation": { + "duration_s": 17.17000939625614, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.121025388129348e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007283710271719762, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "0668c1857b05b110024c9c406a79acf2ccc27ba90761f005af0be399de419e16", + "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": 0.00792404513888889, + "mean_luminance": 139.39219665527344, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 86, + 171, + 257, + 343, + 428, + 514 + ], + "spatial_standard_deviation": 35.9064826965332, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663, + "wrong_orientation": { + "azimuth_deg": 49.39441095530427, + "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": [ + -0.5583287509353945, + 0.30064014551956664, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 178.61750197737138, + "release_lateral_offset_m": 0.02036918999842028, + "release_phase_fraction": 0.749704124984035, + "release_tilt_deg": 24.977019803827858, + "release_time_s": 15.996835498150489, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5583287509353945, + 0.30064014551956664, + 0.8500000000000001 + ], + "yaw_deg": 47.35580205241166 + } +} diff --git a/tube_drop/scene_000046/metadata.json b/tube_drop/scene_000046/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f00c80f5b4d25c3199a9c65abdde5d1461cafe8a --- /dev/null +++ b/tube_drop/scene_000046/metadata.json @@ -0,0 +1,1138 @@ +{ + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ], + "duration_s": 17.17000939625614, + "episode_id": 46, + "error_type": "tube_drop", + "frame_count": 515, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.6548293923443778, + "direction_azimuth_deg": 66.2903961668712, + "lateral_speed_mps": 0.04506495922944617, + "phase": "lower_to_rack", + "phase_fraction": 0.8011458357642933, + "release_clearance_m": 0.007049724490655141, + "release_tilt_deg": 135.76190255302367, + "stage": "insertion", + "tip_duration_s": 0.30678030504397047, + "trigger_time_s": 16.075422623482584, + "tube_detach_fraction": 0.4825619537915902, + "tube_engagement_fraction": 0.5420401936101742, + "tube_on_rack": true, + "upward_speed_mps": 0.09973916235564233 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_yaw_deg": -54.7175532171773, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_to_vortex_bearing_deg": 153.75059934828317, + "rack_to_vortex_distance_m": 0.6678789375167278, + "rack_yaw_deg": -54.7175532171773, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "tube_return_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663 + }, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "effective_peak_level_fraction": 0.6768245525594758, + "effective_vortex_level_rise_fraction": 0.20284092222064068, + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "present": true, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "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": 24720909, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + } + }, + "render_and_primary_validation_seconds": 32.37288078293204, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000046", + "schema_version": 15, + "seed": 24720909, + "shared_state_sha256": "af5abc54010b13c788bc966a60f5402b87887393253bd4d3dc56203eee55ddb4", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.208992559812422, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + }, + "trajectory_validation": { + "duration_s": 17.17000939625614, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.121025388129348e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007283710271719762, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 515, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 515, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.00792404513888889, + "mean_luminance": 139.39219665527344, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 86, + 171, + 257, + 343, + 428, + 514 + ], + "spatial_standard_deviation": 35.9064826965332, + "valid": true + }, + "views": { + "front": { + "bytes": 26024870, + "metadata": "front.json", + "sha256": "8734d8dd0b0580ac0e5cdc299ceec519ab8e2d7c1e50c68082f6b3ddcb34c8a4", + "video": "front.mp4" + }, + "left": { + "bytes": 23159034, + "metadata": "left.json", + "sha256": "0668c1857b05b110024c9c406a79acf2ccc27ba90761f005af0be399de419e16", + "video": "left.mp4" + }, + "right": { + "bytes": 22764639, + "metadata": "right.json", + "sha256": "1bff8a1a28e2767079f4687d22aea179949c33bf2c6f78abb0df9a640604e47e", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663, + "worker_elapsed_seconds": 50.002059085993096, + "wrong_orientation": { + "azimuth_deg": 49.39441095530427, + "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": [ + -0.5583287509353945, + 0.30064014551956664, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 178.61750197737138, + "release_lateral_offset_m": 0.02036918999842028, + "release_phase_fraction": 0.749704124984035, + "release_tilt_deg": 24.977019803827858, + "release_time_s": 15.996835498150489, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5583287509353945, + 0.30064014551956664, + 0.8500000000000001 + ], + "yaw_deg": 47.35580205241166 + } +} diff --git a/tube_drop/scene_000046/right.json b/tube_drop/scene_000046/right.json new file mode 100644 index 0000000000000000000000000000000000000000..0e8686a6a9ec809bfa15bb2cf949a16d27dbcb83 --- /dev/null +++ b/tube_drop/scene_000046/right.json @@ -0,0 +1,1063 @@ +{ + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ], + "duration_s": 17.17000939625614, + "episode_id": 46, + "error_type": "tube_drop", + "frame_count": 515, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.6548293923443778, + "direction_azimuth_deg": 66.2903961668712, + "lateral_speed_mps": 0.04506495922944617, + "phase": "lower_to_rack", + "phase_fraction": 0.8011458357642933, + "release_clearance_m": 0.007049724490655141, + "release_tilt_deg": 135.76190255302367, + "stage": "insertion", + "tip_duration_s": 0.30678030504397047, + "trigger_time_s": 16.075422623482584, + "tube_detach_fraction": 0.4825619537915902, + "tube_engagement_fraction": 0.5420401936101742, + "tube_on_rack": true, + "upward_speed_mps": 0.09973916235564233 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_yaw_deg": -54.7175532171773, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.06286824959666859, + -0.24186899688310057, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.17172484039652, + "yaw_deg": 111.19515937612448 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.20714736552324353, + 0.20819442687441714, + 0.8123051296803618 + ], + "roll_deg": -91.07541558547018, + "surface": "main_table", + "uniform_scale": 0.8517628781391321, + "yaw_deg": 72.51177631307002 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.94274413730724, + "position": [ + -0.2983812262962444, + -0.37739375152869553, + 0.8097931725886955 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.124966331702365, + "yaw_deg": 120.62329320200968 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.5483583276052336, + 0.357923608001661, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9218990270646563, + "yaw_deg": 90.80625732797103 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 88.02490341057837, + "position": [ + 0.6590049934001045, + -0.11907482133935665, + 0.798773228418193 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8992639584992365, + "yaw_deg": -49.756705496229785 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.005091405357606549, + -0.3871520572154112, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0712643086715947, + "yaw_deg": 11.944638957533641 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.606624904907209, + -0.31761001028198316, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9222407352691732, + "yaw_deg": 125.75263488648659 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5091920198228337, + 0.0023968833555232383, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1277742105583104, + "yaw_deg": -145.39408544032145 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.907412414115234, + 0.5589650902799865, + 0.1849659217974193 + ], + "cabinet_color_rgb": [ + 0.4890162683103032, + 0.6311556535176335, + 0.5564941152659628 + ], + "floor_color_rgb": [ + 0.27488103580872036, + 0.32939139384852095, + 0.24497273854410215 + ], + "screen_color_rgb": [ + 0.33201025910053067, + 0.7197088596329339, + 0.6662277179895145 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7339158552569677, + 0.8027522433216282, + 0.7731160775046457 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9805308700002645 + ], + "light_intensity": 2445.611826020413, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.4030240480344842, + -0.15231467407732385, + 0.79 + ], + "rack_to_vortex_bearing_deg": 153.75059934828317, + "rack_to_vortex_distance_m": 0.6678789375167278, + "rack_yaw_deg": -54.7175532171773, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "tube_return_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663 + }, + "liquid": { + "color_rgb": [ + 0.32766316944245927, + 0.0744843674329797, + 0.18523414478101502 + ], + "effective_peak_level_fraction": 0.6768245525594758, + "effective_vortex_level_rise_fraction": 0.20284092222064068, + "fill_fraction": 0.4739836303388351, + "opacity": 0.9032767052269893, + "present": true, + "vortex_level_rise_fraction": 0.20284092222064068 + }, + "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": 24720909, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000046", + "schema_version": 15, + "seed": 24720909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "af5abc54010b13c788bc966a60f5402b87887393253bd4d3dc56203eee55ddb4", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.208992559812422, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.010985140819660007, + "depart_pattern": "spiral", + "depart_sway_m": 0.0029500049198894866, + "handling_noise_amplitude_m": 0.005222414031376678, + "handling_noise_frequency_hz": 2.7853312637649092, + "handling_noise_phase_xyz_rad": [ + 2.840400905415735, + 4.957620103097374, + 1.761294788708163 + ], + "lift_height_m": 0.13453677578950224, + "orientation_noise_deg": 5.195433480284192, + "outbound_curve_bias": 0.6072469812184718, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.379210675834795, + 17.17000939625614 + ], + "initial_hold": [ + 0.0, + 0.7851422258949065 + ], + "lift_from_rack": [ + 0.7851422258949065, + 2.4224604788173685 + ], + "lower_to_rack": [ + 14.851517989489421, + 16.379210675834795 + ], + "lower_to_vortex": [ + 5.662261752210023, + 7.196661131915772 + ], + "raise_from_vortex": [ + 12.038540069854633, + 12.760211245178319 + ], + "transfer_to_rack": [ + 12.760211245178319, + 14.851517989489421 + ], + "transfer_to_vortex": [ + 2.4224604788173685, + 5.662261752210023 + ], + "vortex": [ + 7.196661131915772, + 12.038540069854633 + ] + }, + "pick_line_azimuth_deg": 134.94600299389157, + "pick_line_tilt_deg": 6.764472033447005, + "pick_pattern": "spiral", + "pick_sway_m": 0.0022768863802519333, + "put_pattern": "hook", + "put_sway_m": 0.006582400295671228, + "rack_put_height_m": 0.2793819344145134, + "return_bend_scale": 1.4424060418241604, + "return_curve_bias": 0.3825048137543774, + "return_pattern": "double_s", + "return_side": 1.0, + "return_vertical_arc_scale": 1.2077395034165015, + "transfer_bend_m": 0.21221856090076222, + "transfer_side": -1.0, + "transport_tilt_deg": 0.01237345652281907, + "vertical_arc_m": 0.09187042791367739, + "vortex_apparent_frequency_hz": 3.954269942673598, + "vortex_approach_height_m": 0.29741749175445137, + "vortex_depart_height_m": 0.36245031796131366, + "vortex_frequency_hz": 26.045730057326402, + "vortex_phase_rad": 1.3843877518462324, + "vortex_radius_m": 0.0004202419294676902, + "vortex_tilt_deg": 0.47483055249361483 + }, + "trajectory_validation": { + "duration_s": 17.17000939625614, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.121025388129348e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007283710271719762, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.5514326127553597, + "release_time_s": 4.208992559812422, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4515232229658639, + "final_angular_speed_deg_s": 26.174795150756836, + "final_linear_speed_mps": 0.005545681808143854, + "final_position_m": [ + 0.16432607173919678, + 0.0050321295857429504, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902499133424327, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + 0.09709171950817108, + 0.07677597552537918, + 0.7788370847702026 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.516666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7788370847702026, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.5514326127553597, + "release_position_m": [ + 0.09709171605737059, + 0.07677597915954013, + 1.2303603077360665 + ], + "release_time_s": 4.208992559812422, + "support_clearance_m": 0.0002499133424326283, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.470056058291489, + -0.18818540867957034, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "1bff8a1a28e2767079f4687d22aea179949c33bf2c6f78abb0df9a640604e47e", + "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": 0.011403645833333333, + "mean_luminance": 131.8621826171875, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 86, + 171, + 257, + 343, + 428, + 514 + ], + "spatial_standard_deviation": 35.97948455810547, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.22011703968821947, + 0.1581599026656392, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.19598145564765812, + 0.14307436048045408, + 0.79 + ], + "vortex_yaw_deg": 38.92170505959663, + "wrong_orientation": { + "azimuth_deg": 49.39441095530427, + "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": [ + -0.5583287509353945, + 0.30064014551956664, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 178.61750197737138, + "release_lateral_offset_m": 0.02036918999842028, + "release_phase_fraction": 0.749704124984035, + "release_tilt_deg": 24.977019803827858, + "release_time_s": 15.996835498150489, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5583287509353945, + 0.30064014551956664, + 0.8500000000000001 + ], + "yaw_deg": 47.35580205241166 + } +} diff --git a/tube_drop/scene_000055/front.json b/tube_drop/scene_000055/front.json new file mode 100644 index 0000000000000000000000000000000000000000..55296ae09533fcdd167f11f85637098c413c701c --- /dev/null +++ b/tube_drop/scene_000055/front.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ], + "duration_s": 18.205920013117932, + "episode_id": 55, + "error_type": "tube_drop", + "frame_count": 546, + "generation_success": true, + "light_color_rgb": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.2053421198227907, + "direction_azimuth_deg": -13.435314114595656, + "lateral_speed_mps": 0.031747539269499934, + "phase": "lower_to_rack", + "phase_fraction": 0.7007041829010898, + "release_clearance_m": 0.01050395994758204, + "release_tilt_deg": 135.29651612388113, + "stage": "insertion", + "tip_duration_s": 0.3096028381042135, + "trigger_time_s": 16.790194684271793, + "tube_detach_fraction": 0.5338720420637788, + "tube_engagement_fraction": 0.6507757503353614, + "tube_on_rack": true, + "upward_speed_mps": 0.07781914925318564 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_yaw_deg": -41.44545112675661, + "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": 9, + "placements": [ + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_to_vortex_bearing_deg": 26.163331893976515, + "rack_to_vortex_distance_m": 0.6927045930098021, + "rack_yaw_deg": -41.44545112675661, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position_m": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_position_m": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915 + }, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "effective_peak_level_fraction": 0.7462349375877797, + "effective_vortex_level_rise_fraction": 0.20459134800457957, + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "present": true, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "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": 24810914, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000055", + "schema_version": 15, + "seed": 24810914, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "81f99a1585b8c29ba99c31e73bed1e4749a590a7245ea9e636c8f83dbc664f14", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.9639038144910645, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + }, + "trajectory_validation": { + "duration_s": 18.205920013117932, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.033936459318182e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0056668252746090745, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "video": "front.mp4", + "video_sha256": "02b7c855ae825dadf8bdea64f704542722903813259486f7415e0ce76db88941", + "video_validation": { + "actual_frame_count": 546, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 546, + "frame_count_valid": true, + "full_decode_frame_count": 546, + "max_changed_pixel_fraction": 0.0114609375, + "mean_luminance": 151.65745544433594, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 182, + 272, + 363, + 454, + 545 + ], + "spatial_standard_deviation": 33.99821472167969, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915, + "wrong_orientation": { + "azimuth_deg": -4.992572815757882, + "mode": "tilted", + "tilt_deg_from_z": 51.885890516999886 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5301045440483309, + -0.021216182118842464, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -84.51043733770481, + "release_lateral_offset_m": 0.014880175129927573, + "release_phase_fraction": 0.7733665915527328, + "release_tilt_deg": 25.115979152073166, + "release_time_s": 16.888853596611206, + "slot_offset_xy": [ + 0.0, + -0.019 + ], + "tube_target_position": [ + -0.5148645487988749, + -0.03256265931648228, + 0.8500000000000001 + ], + "yaw_deg": 53.33158908222691 + } +} diff --git a/tube_drop/scene_000055/left.json b/tube_drop/scene_000055/left.json new file mode 100644 index 0000000000000000000000000000000000000000..1f287d860724447ad4de51af5de5077de167923f --- /dev/null +++ b/tube_drop/scene_000055/left.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ], + "duration_s": 18.205920013117932, + "episode_id": 55, + "error_type": "tube_drop", + "frame_count": 546, + "generation_success": true, + "light_color_rgb": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.2053421198227907, + "direction_azimuth_deg": -13.435314114595656, + "lateral_speed_mps": 0.031747539269499934, + "phase": "lower_to_rack", + "phase_fraction": 0.7007041829010898, + "release_clearance_m": 0.01050395994758204, + "release_tilt_deg": 135.29651612388113, + "stage": "insertion", + "tip_duration_s": 0.3096028381042135, + "trigger_time_s": 16.790194684271793, + "tube_detach_fraction": 0.5338720420637788, + "tube_engagement_fraction": 0.6507757503353614, + "tube_on_rack": true, + "upward_speed_mps": 0.07781914925318564 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_yaw_deg": -41.44545112675661, + "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": 9, + "placements": [ + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_to_vortex_bearing_deg": 26.163331893976515, + "rack_to_vortex_distance_m": 0.6927045930098021, + "rack_yaw_deg": -41.44545112675661, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position_m": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_position_m": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915 + }, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "effective_peak_level_fraction": 0.7462349375877797, + "effective_vortex_level_rise_fraction": 0.20459134800457957, + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "present": true, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "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": 24810914, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000055", + "schema_version": 15, + "seed": 24810914, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "81f99a1585b8c29ba99c31e73bed1e4749a590a7245ea9e636c8f83dbc664f14", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.9639038144910645, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + }, + "trajectory_validation": { + "duration_s": 18.205920013117932, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.033936459318182e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0056668252746090745, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "video": "left.mp4", + "video_sha256": "a9212af88bde4830b57ffdca9fd84ade2cd0d779eca46ee2cbbd509e8c5cfbec", + "video_validation": { + "actual_frame_count": 546, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 546, + "frame_count_valid": true, + "full_decode_frame_count": 546, + "max_changed_pixel_fraction": 0.0060421006944444446, + "mean_luminance": 153.2970733642578, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 182, + 272, + 363, + 454, + 545 + ], + "spatial_standard_deviation": 33.21652603149414, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915, + "wrong_orientation": { + "azimuth_deg": -4.992572815757882, + "mode": "tilted", + "tilt_deg_from_z": 51.885890516999886 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5301045440483309, + -0.021216182118842464, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -84.51043733770481, + "release_lateral_offset_m": 0.014880175129927573, + "release_phase_fraction": 0.7733665915527328, + "release_tilt_deg": 25.115979152073166, + "release_time_s": 16.888853596611206, + "slot_offset_xy": [ + 0.0, + -0.019 + ], + "tube_target_position": [ + -0.5148645487988749, + -0.03256265931648228, + 0.8500000000000001 + ], + "yaw_deg": 53.33158908222691 + } +} diff --git a/tube_drop/scene_000055/metadata.json b/tube_drop/scene_000055/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8f14e7a7831e3eeb0006b76e51dd73ee48daf9e5 --- /dev/null +++ b/tube_drop/scene_000055/metadata.json @@ -0,0 +1,1166 @@ +{ + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ], + "duration_s": 18.205920013117932, + "episode_id": 55, + "error_type": "tube_drop", + "frame_count": 546, + "generation_success": true, + "light_color_rgb": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.2053421198227907, + "direction_azimuth_deg": -13.435314114595656, + "lateral_speed_mps": 0.031747539269499934, + "phase": "lower_to_rack", + "phase_fraction": 0.7007041829010898, + "release_clearance_m": 0.01050395994758204, + "release_tilt_deg": 135.29651612388113, + "stage": "insertion", + "tip_duration_s": 0.3096028381042135, + "trigger_time_s": 16.790194684271793, + "tube_detach_fraction": 0.5338720420637788, + "tube_engagement_fraction": 0.6507757503353614, + "tube_on_rack": true, + "upward_speed_mps": 0.07781914925318564 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_yaw_deg": -41.44545112675661, + "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": 9, + "placements": [ + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_to_vortex_bearing_deg": 26.163331893976515, + "rack_to_vortex_distance_m": 0.6927045930098021, + "rack_yaw_deg": -41.44545112675661, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position_m": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_position_m": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915 + }, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "effective_peak_level_fraction": 0.7462349375877797, + "effective_vortex_level_rise_fraction": 0.20459134800457957, + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "present": true, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "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": 24810914, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + } + }, + "render_and_primary_validation_seconds": 42.94820685405284, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000055", + "schema_version": 15, + "seed": 24810914, + "shared_state_sha256": "81f99a1585b8c29ba99c31e73bed1e4749a590a7245ea9e636c8f83dbc664f14", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.9639038144910645, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + }, + "trajectory_validation": { + "duration_s": 18.205920013117932, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.033936459318182e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0056668252746090745, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 546, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 546, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.0060421006944444446, + "mean_luminance": 153.2970733642578, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 182, + 272, + 363, + 454, + 545 + ], + "spatial_standard_deviation": 33.21652603149414, + "valid": true + }, + "views": { + "front": { + "bytes": 21725028, + "metadata": "front.json", + "sha256": "02b7c855ae825dadf8bdea64f704542722903813259486f7415e0ce76db88941", + "video": "front.mp4" + }, + "left": { + "bytes": 22322167, + "metadata": "left.json", + "sha256": "a9212af88bde4830b57ffdca9fd84ade2cd0d779eca46ee2cbbd509e8c5cfbec", + "video": "left.mp4" + }, + "right": { + "bytes": 22150041, + "metadata": "right.json", + "sha256": "d5510a5aad656e4eb73c2c89ef427347ecd11c0ec35bf2db2bcab3a26402890b", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915, + "worker_elapsed_seconds": 60.925608661957085, + "wrong_orientation": { + "azimuth_deg": -4.992572815757882, + "mode": "tilted", + "tilt_deg_from_z": 51.885890516999886 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5301045440483309, + -0.021216182118842464, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -84.51043733770481, + "release_lateral_offset_m": 0.014880175129927573, + "release_phase_fraction": 0.7733665915527328, + "release_tilt_deg": 25.115979152073166, + "release_time_s": 16.888853596611206, + "slot_offset_xy": [ + 0.0, + -0.019 + ], + "tube_target_position": [ + -0.5148645487988749, + -0.03256265931648228, + 0.8500000000000001 + ], + "yaw_deg": 53.33158908222691 + } +} diff --git a/tube_drop/scene_000055/right.json b/tube_drop/scene_000055/right.json new file mode 100644 index 0000000000000000000000000000000000000000..ea04e8b37cf299031efdf20568828a66c083aa68 --- /dev/null +++ b/tube_drop/scene_000055/right.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ], + "duration_s": 18.205920013117932, + "episode_id": 55, + "error_type": "tube_drop", + "frame_count": 546, + "generation_success": true, + "light_color_rgb": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.2053421198227907, + "direction_azimuth_deg": -13.435314114595656, + "lateral_speed_mps": 0.031747539269499934, + "phase": "lower_to_rack", + "phase_fraction": 0.7007041829010898, + "release_clearance_m": 0.01050395994758204, + "release_tilt_deg": 135.29651612388113, + "stage": "insertion", + "tip_duration_s": 0.3096028381042135, + "trigger_time_s": 16.790194684271793, + "tube_detach_fraction": 0.5338720420637788, + "tube_engagement_fraction": 0.6507757503353614, + "tube_on_rack": true, + "upward_speed_mps": 0.07781914925318564 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_yaw_deg": -41.44545112675661, + "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": 9, + "placements": [ + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.43717061147570224, + -0.24929278298642563, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1153395280741467, + "yaw_deg": 152.25191519649832 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.00712947116821494, + 0.11190839608826542, + 0.7999931913634902 + ], + "roll_deg": 90.8857350240895, + "surface": "main_table", + "uniform_scale": 1.0432078421417834, + "yaw_deg": 31.340801170304502 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.06285483094434408, + -0.32640615645994947, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1770041113893688, + "yaw_deg": -146.81582485610028 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.5718139460844748, + -0.17332821620807115, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1099069732611044, + "yaw_deg": -76.36851253736302 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.00025797196143895196, + 1.2828766889033045, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0017101904844092, + "yaw_deg": 111.71125280179922 + }, + { + "asset_id": "PIP-005", + "pitch_deg": -91.48458003897778, + "position": [ + 0.4662549732711141, + 1.033755516435873, + 0.8487218212312087 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7922530970090743, + "yaw_deg": 0.7580530021482446 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.383876871347985, + 0.25973939100386056, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.130811230972585, + "yaw_deg": 0.0860771328595149 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.8467232723468959, + 1.138910362566068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.789641741131105, + "yaw_deg": 49.57187700165778 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.5547369369464404, + 1.0835394270160068, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8136428723958848, + "yaw_deg": 19.3337385203057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.22436590973764944, + 0.5101496436851513, + 0.654646811420827 + ], + "cabinet_color_rgb": [ + 0.7600443157971161, + 0.7332531073260752, + 0.8152146719167517 + ], + "floor_color_rgb": [ + 0.29971468315304495, + 0.3380340776016902, + 0.37988010090885166 + ], + "screen_color_rgb": [ + 0.5006120027901966, + 0.8047784365564405, + 0.9067786456083534 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.8041035102372779, + 0.8296667372213046, + 0.8548976151619566 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.998513030569087, + 0.92, + 0.92 + ], + "light_intensity": 2510.571082687351, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17998570941617614, + -0.21834385160084088, + 0.79 + ], + "rack_to_vortex_bearing_deg": 26.163331893976515, + "rack_to_vortex_distance_m": 0.6927045930098021, + "rack_yaw_deg": -41.44545112675661, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position_m": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_position_m": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915 + }, + "liquid": { + "color_rgb": [ + 0.04697797608776277, + 0.29220034926519267, + 0.2215595282834969 + ], + "effective_peak_level_fraction": 0.7462349375877797, + "effective_vortex_level_rise_fraction": 0.20459134800457957, + "fill_fraction": 0.5416435895832001, + "opacity": 0.8357528186198918, + "present": true, + "vortex_level_rise_fraction": 0.20459134800457957 + }, + "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": 24810914, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000055", + "schema_version": 15, + "seed": 24810914, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "81f99a1585b8c29ba99c31e73bed1e4749a590a7245ea9e636c8f83dbc664f14", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.9639038144910645, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.010081232420263785, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0025263827721048343, + "handling_noise_amplitude_m": 0.00845952165237807, + "handling_noise_frequency_hz": 1.7074223617671707, + "handling_noise_phase_xyz_rad": [ + 5.799881325102349, + 5.1488409023698605, + 4.026203209607723 + ], + "lift_height_m": 0.09994082188806781, + "orientation_noise_deg": 2.7597291273595106, + "outbound_curve_bias": -0.2735765483162638, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 17.196569869607018, + 18.205920013117932 + ], + "initial_hold": [ + 0.0, + 1.1391995069261516 + ], + "lift_from_rack": [ + 1.1391995069261516, + 3.346807181077309 + ], + "lower_to_rack": [ + 15.838798854715321, + 17.196569869607018 + ], + "lower_to_vortex": [ + 6.772948798281048, + 8.19459393450441 + ], + "raise_from_vortex": [ + 11.829380552230365, + 13.240208494887664 + ], + "transfer_to_rack": [ + 13.240208494887664, + 15.838798854715321 + ], + "transfer_to_vortex": [ + 3.346807181077309, + 6.772948798281048 + ], + "vortex": [ + 8.19459393450441, + 11.829380552230365 + ] + }, + "pick_line_azimuth_deg": 61.3808825521572, + "pick_line_tilt_deg": 6.859113250145766, + "pick_pattern": "s_sway", + "pick_sway_m": -0.0037719650512999378, + "put_pattern": "spiral", + "put_sway_m": -0.005139738780957177, + "rack_put_height_m": 0.11630067270892541, + "return_bend_scale": 1.2072504293464263, + "return_curve_bias": -0.26141039830092533, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5344786609180894, + "transfer_bend_m": 0.16714914261007685, + "transfer_side": -1.0, + "transport_tilt_deg": 8.682317290869612, + "vertical_arc_m": 0.31393724879392126, + "vortex_apparent_frequency_hz": 11.129103762302819, + "vortex_approach_height_m": 0.2165677019154041, + "vortex_depart_height_m": 0.24911617464611968, + "vortex_frequency_hz": 41.12910376230282, + "vortex_phase_rad": 4.775645618242177, + "vortex_radius_m": 0.000567504258719727, + "vortex_tilt_deg": 0.8561269371212828 + }, + "trajectory_validation": { + "duration_s": 18.205920013117932, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.033936459318182e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0056668252746090745, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18011416408332875, + "release_time_s": 3.9639038144910645, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1850334850409272, + "final_angular_speed_deg_s": 0.07261508703231812, + "final_linear_speed_mps": 2.0905434212181717e-05, + "final_position_m": [ + -0.02269991673529148, + -0.29024559259414673, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.790250006790162, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.2362160086631775, + "first_impact_position_m": [ + -0.10225001722574234, + -0.2587922513484955, + 0.9071728587150574 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.091666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8034148216247559, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18011416408332875, + "release_position_m": [ + -0.10220575254360384, + -0.2588642409378284, + 0.9884483066656831 + ], + "release_time_s": 3.9639038144910645, + "support_clearance_m": 0.0002500067901619607, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19872536525641807, + -0.20179618412203026, + 0.8529 + ], + "tube_start_position": [ + -0.16124605357593422, + -0.2348915190796515, + 0.8529 + ], + "video": "right.mp4", + "video_sha256": "d5510a5aad656e4eb73c2c89ef427347ecd11c0ec35bf2db2bcab3a26402890b", + "video_validation": { + "actual_frame_count": 546, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 546, + "frame_count_valid": true, + "full_decode_frame_count": 546, + "max_changed_pixel_fraction": 0.007524739583333333, + "mean_luminance": 144.72984313964844, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 182, + 272, + 363, + 454, + 545 + ], + "spatial_standard_deviation": 32.69518280029297, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.4048848362719567, + 0.13226076197185224, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.4417448839155326, + 0.08709144840928731, + 0.79 + ], + "vortex_yaw_deg": 39.412436772982915, + "wrong_orientation": { + "azimuth_deg": -4.992572815757882, + "mode": "tilted", + "tilt_deg_from_z": 51.885890516999886 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5301045440483309, + -0.021216182118842464, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -84.51043733770481, + "release_lateral_offset_m": 0.014880175129927573, + "release_phase_fraction": 0.7733665915527328, + "release_tilt_deg": 25.115979152073166, + "release_time_s": 16.888853596611206, + "slot_offset_xy": [ + 0.0, + -0.019 + ], + "tube_target_position": [ + -0.5148645487988749, + -0.03256265931648228, + 0.8500000000000001 + ], + "yaw_deg": 53.33158908222691 + } +} diff --git a/tube_drop/scene_000057/front.json b/tube_drop/scene_000057/front.json new file mode 100644 index 0000000000000000000000000000000000000000..ff2a44c547794f4ba2b4332a0dbb64e822c185e7 --- /dev/null +++ b/tube_drop/scene_000057/front.json @@ -0,0 +1,1065 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ], + "duration_s": 16.004093536098285, + "episode_id": 57, + "error_type": "tube_drop", + "frame_count": 480, + "generation_success": true, + "light_color_rgb": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.452004815808346, + "direction_azimuth_deg": -18.474764773755766, + "lateral_speed_mps": 0.08125718406168728, + "phase": "lower_to_rack", + "phase_fraction": 0.6845756575726281, + "release_clearance_m": 0.00948367982469214, + "release_tilt_deg": 111.2536785584534, + "stage": "insertion", + "tip_duration_s": 0.31945735510848006, + "trigger_time_s": 14.697349265380913, + "tube_detach_fraction": 0.6010236171977956, + "tube_engagement_fraction": 0.49060490167143067, + "tube_on_rack": true, + "upward_speed_mps": 0.06969602919957207 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_yaw_deg": 45.22565035424731, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_to_vortex_bearing_deg": -125.92463915340996, + "rack_to_vortex_distance_m": 0.5210790401517323, + "rack_yaw_deg": 45.22565035424731, + "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": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position_m": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212 + }, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "effective_peak_level_fraction": 0.645181325741187, + "effective_vortex_level_rise_fraction": 0.19212006523976047, + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "present": true, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "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": 24830915, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000057", + "schema_version": 15, + "seed": 24830915, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "91cfb939d4131369404a1ff580cce2881934b05ed71d160b41291753aacd00a8", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.438688951083407, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + }, + "trajectory_validation": { + "duration_s": 16.004093536098285, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.011842062001899e-15, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.0035975491868198567, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "video": "front.mp4", + "video_sha256": "d2ccb68ccef52987f4d9d692265fbe35ba38d9543a474b5c9db10ad7421545c6", + "video_validation": { + "actual_frame_count": 480, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 480, + "frame_count_valid": true, + "full_decode_frame_count": 480, + "max_changed_pixel_fraction": 0.010990451388888888, + "mean_luminance": 139.54945373535156, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 80, + 160, + 240, + 319, + 399, + 479 + ], + "spatial_standard_deviation": 30.97416877746582, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212, + "wrong_orientation": { + "azimuth_deg": 71.72180031634647, + "mode": "tilted", + "tilt_deg_from_z": 34.59860713965836 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5655410932142524, + -0.0611275885122779, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 102.62176207445623, + "release_lateral_offset_m": 0.021377394630363505, + "release_phase_fraction": 0.6703248073322898, + "release_tilt_deg": 30.528662684199965, + "release_time_s": 14.683784166273442, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5505401787235167, + -0.02404696601963848, + 0.8500000000000001 + ], + "yaw_deg": 67.97427412847614 + } +} diff --git a/tube_drop/scene_000057/left.json b/tube_drop/scene_000057/left.json new file mode 100644 index 0000000000000000000000000000000000000000..414c6d403fc36cea764b0ef39bc0d62898ffeecd --- /dev/null +++ b/tube_drop/scene_000057/left.json @@ -0,0 +1,1065 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ], + "duration_s": 16.004093536098285, + "episode_id": 57, + "error_type": "tube_drop", + "frame_count": 480, + "generation_success": true, + "light_color_rgb": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.452004815808346, + "direction_azimuth_deg": -18.474764773755766, + "lateral_speed_mps": 0.08125718406168728, + "phase": "lower_to_rack", + "phase_fraction": 0.6845756575726281, + "release_clearance_m": 0.00948367982469214, + "release_tilt_deg": 111.2536785584534, + "stage": "insertion", + "tip_duration_s": 0.31945735510848006, + "trigger_time_s": 14.697349265380913, + "tube_detach_fraction": 0.6010236171977956, + "tube_engagement_fraction": 0.49060490167143067, + "tube_on_rack": true, + "upward_speed_mps": 0.06969602919957207 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_yaw_deg": 45.22565035424731, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_to_vortex_bearing_deg": -125.92463915340996, + "rack_to_vortex_distance_m": 0.5210790401517323, + "rack_yaw_deg": 45.22565035424731, + "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": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position_m": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212 + }, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "effective_peak_level_fraction": 0.645181325741187, + "effective_vortex_level_rise_fraction": 0.19212006523976047, + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "present": true, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "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": 24830915, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000057", + "schema_version": 15, + "seed": 24830915, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "91cfb939d4131369404a1ff580cce2881934b05ed71d160b41291753aacd00a8", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.438688951083407, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + }, + "trajectory_validation": { + "duration_s": 16.004093536098285, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.011842062001899e-15, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.0035975491868198567, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "video": "left.mp4", + "video_sha256": "7f6455ecbc620a580a59f5575269997c691e2669beda564d53ec0ee787541de0", + "video_validation": { + "actual_frame_count": 480, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 480, + "frame_count_valid": true, + "full_decode_frame_count": 480, + "max_changed_pixel_fraction": 0.0059175347222222225, + "mean_luminance": 138.28213500976562, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 80, + 160, + 240, + 319, + 399, + 479 + ], + "spatial_standard_deviation": 33.4752197265625, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212, + "wrong_orientation": { + "azimuth_deg": 71.72180031634647, + "mode": "tilted", + "tilt_deg_from_z": 34.59860713965836 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5655410932142524, + -0.0611275885122779, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 102.62176207445623, + "release_lateral_offset_m": 0.021377394630363505, + "release_phase_fraction": 0.6703248073322898, + "release_tilt_deg": 30.528662684199965, + "release_time_s": 14.683784166273442, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5505401787235167, + -0.02404696601963848, + 0.8500000000000001 + ], + "yaw_deg": 67.97427412847614 + } +} diff --git a/tube_drop/scene_000057/metadata.json b/tube_drop/scene_000057/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..1d616dcb6886db1b7a9899ea71fedc05d1bc4558 --- /dev/null +++ b/tube_drop/scene_000057/metadata.json @@ -0,0 +1,1140 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ], + "duration_s": 16.004093536098285, + "episode_id": 57, + "error_type": "tube_drop", + "frame_count": 480, + "generation_success": true, + "light_color_rgb": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.452004815808346, + "direction_azimuth_deg": -18.474764773755766, + "lateral_speed_mps": 0.08125718406168728, + "phase": "lower_to_rack", + "phase_fraction": 0.6845756575726281, + "release_clearance_m": 0.00948367982469214, + "release_tilt_deg": 111.2536785584534, + "stage": "insertion", + "tip_duration_s": 0.31945735510848006, + "trigger_time_s": 14.697349265380913, + "tube_detach_fraction": 0.6010236171977956, + "tube_engagement_fraction": 0.49060490167143067, + "tube_on_rack": true, + "upward_speed_mps": 0.06969602919957207 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_yaw_deg": 45.22565035424731, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_to_vortex_bearing_deg": -125.92463915340996, + "rack_to_vortex_distance_m": 0.5210790401517323, + "rack_yaw_deg": 45.22565035424731, + "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": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position_m": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212 + }, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "effective_peak_level_fraction": 0.645181325741187, + "effective_vortex_level_rise_fraction": 0.19212006523976047, + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "present": true, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "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": 24830915, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + } + }, + "render_and_primary_validation_seconds": 39.90816652495414, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000057", + "schema_version": 15, + "seed": 24830915, + "shared_state_sha256": "91cfb939d4131369404a1ff580cce2881934b05ed71d160b41291753aacd00a8", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.438688951083407, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + }, + "trajectory_validation": { + "duration_s": 16.004093536098285, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.011842062001899e-15, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.0035975491868198567, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 480, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 480, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.0059175347222222225, + "mean_luminance": 138.28213500976562, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 80, + 160, + 240, + 319, + 399, + 479 + ], + "spatial_standard_deviation": 33.4752197265625, + "valid": true + }, + "views": { + "front": { + "bytes": 22361577, + "metadata": "front.json", + "sha256": "d2ccb68ccef52987f4d9d692265fbe35ba38d9543a474b5c9db10ad7421545c6", + "video": "front.mp4" + }, + "left": { + "bytes": 21906079, + "metadata": "left.json", + "sha256": "7f6455ecbc620a580a59f5575269997c691e2669beda564d53ec0ee787541de0", + "video": "left.mp4" + }, + "right": { + "bytes": 21597006, + "metadata": "right.json", + "sha256": "5725a1410ab625de48386d37133619d1a29d36789d9d527194ff35b0b25d2846", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212, + "worker_elapsed_seconds": 57.04455834697001, + "wrong_orientation": { + "azimuth_deg": 71.72180031634647, + "mode": "tilted", + "tilt_deg_from_z": 34.59860713965836 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5655410932142524, + -0.0611275885122779, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 102.62176207445623, + "release_lateral_offset_m": 0.021377394630363505, + "release_phase_fraction": 0.6703248073322898, + "release_tilt_deg": 30.528662684199965, + "release_time_s": 14.683784166273442, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5505401787235167, + -0.02404696601963848, + 0.8500000000000001 + ], + "yaw_deg": 67.97427412847614 + } +} diff --git a/tube_drop/scene_000057/right.json b/tube_drop/scene_000057/right.json new file mode 100644 index 0000000000000000000000000000000000000000..1a0293da611d91c0cafef0bff6139636e8ffcf52 --- /dev/null +++ b/tube_drop/scene_000057/right.json @@ -0,0 +1,1065 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ], + "duration_s": 16.004093536098285, + "episode_id": 57, + "error_type": "tube_drop", + "frame_count": 480, + "generation_success": true, + "light_color_rgb": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.452004815808346, + "direction_azimuth_deg": -18.474764773755766, + "lateral_speed_mps": 0.08125718406168728, + "phase": "lower_to_rack", + "phase_fraction": 0.6845756575726281, + "release_clearance_m": 0.00948367982469214, + "release_tilt_deg": 111.2536785584534, + "stage": "insertion", + "tip_duration_s": 0.31945735510848006, + "trigger_time_s": 14.697349265380913, + "tube_detach_fraction": 0.6010236171977956, + "tube_engagement_fraction": 0.49060490167143067, + "tube_on_rack": true, + "upward_speed_mps": 0.06969602919957207 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_yaw_deg": 45.22565035424731, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.45208255023550714, + -0.2909610174004491, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0255401093307148, + "yaw_deg": 81.99521993056874 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.569730676833477, + -0.33705715588837876, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0751339239400903, + "yaw_deg": 57.43444242823293 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.6038116385672699, + 0.26216781498657893, + 0.8002541219016939 + ], + "roll_deg": -89.44324278086174, + "surface": "main_table", + "uniform_scale": 1.0718815276586637, + "yaw_deg": 158.7326504400989 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.032253238570614906, + 0.12442421167972068, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7988012479160194, + "yaw_deg": -110.9715486693948 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6410877422850404, + -0.27091538129073034, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0413156155933878, + "yaw_deg": 23.215519100463894 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.8009675955043277, + 1.2945470923181222, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9815849976681729, + "yaw_deg": 158.72536229472922 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.8036979729264122, + 1.0536626615841385, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9061867089567739, + "yaw_deg": 148.40886331461036 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.3939099257573191, + 0.021011872972241052, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9032346378905808, + "yaw_deg": 85.53420032281736 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8559445138151439, + 0.5778923572882907, + 0.1932004814754062 + ], + "cabinet_color_rgb": [ + 0.5045471152508941, + 0.5985514780221761, + 0.5598365663244542 + ], + "floor_color_rgb": [ + 0.2525509670396797, + 0.27900092930338494, + 0.28243742583312736 + ], + "screen_color_rgb": [ + 0.3504673320517122, + 0.7194659627536045, + 0.6579647674468396 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6796666959143898, + 0.7697020604272934, + 0.7475982428630132 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9520062735833265, + 0.92, + 0.92 + ], + "light_intensity": 2154.073944663308, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.2788368512080466, + 0.19057570866365353, + 0.79 + ], + "rack_to_vortex_bearing_deg": -125.92463915340996, + "rack_to_vortex_distance_m": 0.5210790401517323, + "rack_yaw_deg": 45.22565035424731, + "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": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position_m": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212 + }, + "liquid": { + "color_rgb": [ + 0.387326264925882, + 0.20616751820091136, + 0.035936291345167716 + ], + "effective_peak_level_fraction": 0.645181325741187, + "effective_vortex_level_rise_fraction": 0.19212006523976047, + "fill_fraction": 0.45306126050142653, + "opacity": 0.8909133059718033, + "present": true, + "vortex_level_rise_fraction": 0.19212006523976047 + }, + "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": 24830915, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000057", + "schema_version": 15, + "seed": 24830915, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "91cfb939d4131369404a1ff580cce2881934b05ed71d160b41291753aacd00a8", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.438688951083407, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008236569088572777, + "depart_pattern": "spiral", + "depart_sway_m": -0.0039540399198805835, + "handling_noise_amplitude_m": 0.005745096137104996, + "handling_noise_frequency_hz": 2.3816059294890675, + "handling_noise_phase_xyz_rad": [ + 5.2282656541845975, + 1.110518700530535, + 1.0570352424535236 + ], + "lift_height_m": 0.09471308497438927, + "orientation_noise_deg": 5.11206596434482, + "outbound_curve_bias": -0.13019907564416167, + "outbound_pattern": "direct", + "phase_boundaries_s": { + "final_hold": [ + 14.997595383596664, + 16.004093536098285 + ], + "initial_hold": [ + 0.0, + 1.2220689461614636 + ], + "lift_from_rack": [ + 1.2220689461614636, + 3.671843497666759 + ], + "lower_to_rack": [ + 14.045715398985504, + 14.997595383596664 + ], + "lower_to_vortex": [ + 6.692485735749106, + 7.871907904223635 + ], + "raise_from_vortex": [ + 11.023004215023734, + 11.639519276316552 + ], + "transfer_to_rack": [ + 11.639519276316552, + 14.045715398985504 + ], + "transfer_to_vortex": [ + 3.671843497666759, + 6.692485735749106 + ], + "vortex": [ + 7.871907904223635, + 11.023004215023734 + ] + }, + "pick_line_azimuth_deg": 94.28343868133578, + "pick_line_tilt_deg": 2.4039003283730125, + "pick_pattern": "hook", + "pick_sway_m": -0.005777781814564638, + "put_pattern": "hook", + "put_sway_m": 0.008716012617550376, + "rack_put_height_m": 0.18679326600408286, + "return_bend_scale": 1.1112405164029862, + "return_curve_bias": 0.16534526464125543, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 1.4766118671777413, + "transfer_bend_m": 0.24195371837435858, + "transfer_side": 1.0, + "transport_tilt_deg": 3.8077980136363943, + "vertical_arc_m": 0.2719303297838, + "vortex_apparent_frequency_hz": 4.139253639289301, + "vortex_approach_height_m": 0.15676054384448818, + "vortex_depart_height_m": 0.2714679365099509, + "vortex_frequency_hz": 25.8607463607107, + "vortex_phase_rad": 2.1367753342015985, + "vortex_radius_m": 0.00035440617303402546, + "vortex_tilt_deg": 0.26516677449906456 + }, + "trajectory_validation": { + "duration_s": 16.004093536098285, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.011842062001899e-15, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.0035975491868198567, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4972177592572368, + "release_time_s": 9.438688951083407, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.203409373025498, + "final_angular_speed_deg_s": 30.259897232055664, + "final_linear_speed_mps": 0.009627342224121094, + "final_position_m": [ + 0.0951274037361145, + 0.11652533710002899, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902499930946529, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009829574264585972, + "first_impact_position_m": [ + -0.00461131427437067, + -0.14325512945652008, + 1.0074748992919922 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.441666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8035282492637634, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4972177592572368, + "release_position_m": [ + -0.004611475064553741, + -0.1432554673935221, + 1.0069376222892614 + ], + "release_time_s": 9.438688951083407, + "support_clearance_m": 0.00024999309465290054, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 60.34053943349517, + "vortex_release_offset_m": 0.03697895999455661, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.33166058694631584, + 0.24381716753410046, + 0.8394 + ], + "tube_start_position": [ + 0.2612289392952902, + 0.1728285557068379, + 0.8394 + ], + "video": "right.mp4", + "video_sha256": "5725a1410ab625de48386d37133619d1a29d36789d9d527194ff35b0b25d2846", + "video_validation": { + "actual_frame_count": 480, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 480, + "frame_count_valid": true, + "full_decode_frame_count": 480, + "max_changed_pixel_fraction": 0.005913628472222222, + "mean_luminance": 131.33920288085938, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 80, + 160, + 240, + 319, + 399, + 479 + ], + "spatial_standard_deviation": 34.55199432373047, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.023133103523753452, + -0.1751139085003868, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.02689098101308285, + -0.2313885773734703, + 0.79 + ], + "vortex_yaw_deg": -3.820392702670212, + "wrong_orientation": { + "azimuth_deg": 71.72180031634647, + "mode": "tilted", + "tilt_deg_from_z": 34.59860713965836 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5655410932142524, + -0.0611275885122779, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 102.62176207445623, + "release_lateral_offset_m": 0.021377394630363505, + "release_phase_fraction": 0.6703248073322898, + "release_tilt_deg": 30.528662684199965, + "release_time_s": 14.683784166273442, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.5505401787235167, + -0.02404696601963848, + 0.8500000000000001 + ], + "yaw_deg": 67.97427412847614 + } +} diff --git a/tube_drop/scene_000073/front.json b/tube_drop/scene_000073/front.json new file mode 100644 index 0000000000000000000000000000000000000000..9984576434bc65354ca630f96f83493ef09513a9 --- /dev/null +++ b/tube_drop/scene_000073/front.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ], + "duration_s": 18.181989257652123, + "episode_id": 73, + "error_type": "tube_drop", + "frame_count": 545, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.167530437930343, + "direction_azimuth_deg": -150.8536940499615, + "lateral_speed_mps": 0.0377383547100332, + "phase": "lower_to_rack", + "phase_fraction": 0.7755758588398525, + "release_clearance_m": 0.011380968726532327, + "release_tilt_deg": 119.16640354916609, + "stage": "insertion", + "tip_duration_s": 0.294963879696115, + "trigger_time_s": 16.668737064636478, + "tube_detach_fraction": 0.4808277037288998, + "tube_engagement_fraction": 0.5720525606921756, + "tube_on_rack": true, + "upward_speed_mps": 0.08570016301549835 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_yaw_deg": -48.915647905254964, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_to_vortex_bearing_deg": -14.782214721668774, + "rack_to_vortex_distance_m": 0.5075197888250432, + "rack_yaw_deg": -48.915647905254964, + "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": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position_m": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993 + }, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "effective_peak_level_fraction": 0.6868321807421482, + "effective_vortex_level_rise_fraction": 0.19675266226592253, + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "present": true, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "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": 24990913, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000073", + "schema_version": 15, + "seed": 24990913, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "c8256207da7eed1d143a223e3f8f92f06c41dfb784270466ab48c816eb23e005", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 5.380743556181166, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + }, + "trajectory_validation": { + "duration_s": 18.181989257652123, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.070865672341163e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0050798633807287484, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "video": "front.mp4", + "video_sha256": "b67974c1a2ac49641352f5b7d86793ffa933450eefb9c110eeb5b163b7e35a83", + "video_validation": { + "actual_frame_count": 545, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 545, + "frame_count_valid": true, + "full_decode_frame_count": 545, + "max_changed_pixel_fraction": 0.011186631944444445, + "mean_luminance": 149.9724884033203, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 181, + 272, + 363, + 453, + 544 + ], + "spatial_standard_deviation": 37.092288970947266, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993, + "wrong_orientation": { + "azimuth_deg": 141.01896415939672, + "mode": "tilted", + "tilt_deg_from_z": 44.83830790943857 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.09126845448519483, + -0.35972664928788367, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -87.46969428098603, + "release_lateral_offset_m": 0.022204701477746808, + "release_phase_fraction": 0.7131478052282478, + "release_tilt_deg": 22.83856021083658, + "release_time_s": 16.608366874803313, + "slot_offset_xy": [ + 0.0, + 0.019 + ], + "tube_target_position": [ + 0.09474923675721215, + -0.3410482083793172, + 0.8500000000000001 + ], + "yaw_deg": -10.556152155020655 + } +} diff --git a/tube_drop/scene_000073/left.json b/tube_drop/scene_000073/left.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f7ffc4973b11d3939f7cebdb7e39678aab603c --- /dev/null +++ b/tube_drop/scene_000073/left.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ], + "duration_s": 18.181989257652123, + "episode_id": 73, + "error_type": "tube_drop", + "frame_count": 545, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.167530437930343, + "direction_azimuth_deg": -150.8536940499615, + "lateral_speed_mps": 0.0377383547100332, + "phase": "lower_to_rack", + "phase_fraction": 0.7755758588398525, + "release_clearance_m": 0.011380968726532327, + "release_tilt_deg": 119.16640354916609, + "stage": "insertion", + "tip_duration_s": 0.294963879696115, + "trigger_time_s": 16.668737064636478, + "tube_detach_fraction": 0.4808277037288998, + "tube_engagement_fraction": 0.5720525606921756, + "tube_on_rack": true, + "upward_speed_mps": 0.08570016301549835 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_yaw_deg": -48.915647905254964, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_to_vortex_bearing_deg": -14.782214721668774, + "rack_to_vortex_distance_m": 0.5075197888250432, + "rack_yaw_deg": -48.915647905254964, + "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": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position_m": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993 + }, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "effective_peak_level_fraction": 0.6868321807421482, + "effective_vortex_level_rise_fraction": 0.19675266226592253, + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "present": true, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "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": 24990913, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000073", + "schema_version": 15, + "seed": 24990913, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "c8256207da7eed1d143a223e3f8f92f06c41dfb784270466ab48c816eb23e005", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 5.380743556181166, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + }, + "trajectory_validation": { + "duration_s": 18.181989257652123, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.070865672341163e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0050798633807287484, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "video": "left.mp4", + "video_sha256": "fe5c365160ad6f164cf7e90f537ff365c4ca94e29b19c44d6129d750e1b9808a", + "video_validation": { + "actual_frame_count": 545, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 545, + "frame_count_valid": true, + "full_decode_frame_count": 545, + "max_changed_pixel_fraction": 0.009641059027777777, + "mean_luminance": 147.70831298828125, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 181, + 272, + 363, + 453, + 544 + ], + "spatial_standard_deviation": 39.083736419677734, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993, + "wrong_orientation": { + "azimuth_deg": 141.01896415939672, + "mode": "tilted", + "tilt_deg_from_z": 44.83830790943857 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.09126845448519483, + -0.35972664928788367, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -87.46969428098603, + "release_lateral_offset_m": 0.022204701477746808, + "release_phase_fraction": 0.7131478052282478, + "release_tilt_deg": 22.83856021083658, + "release_time_s": 16.608366874803313, + "slot_offset_xy": [ + 0.0, + 0.019 + ], + "tube_target_position": [ + 0.09474923675721215, + -0.3410482083793172, + 0.8500000000000001 + ], + "yaw_deg": -10.556152155020655 + } +} diff --git a/tube_drop/scene_000073/metadata.json b/tube_drop/scene_000073/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b7b28b1234aec5e23befe17bad6d0fccfc82062f --- /dev/null +++ b/tube_drop/scene_000073/metadata.json @@ -0,0 +1,1164 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ], + "duration_s": 18.181989257652123, + "episode_id": 73, + "error_type": "tube_drop", + "frame_count": 545, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.167530437930343, + "direction_azimuth_deg": -150.8536940499615, + "lateral_speed_mps": 0.0377383547100332, + "phase": "lower_to_rack", + "phase_fraction": 0.7755758588398525, + "release_clearance_m": 0.011380968726532327, + "release_tilt_deg": 119.16640354916609, + "stage": "insertion", + "tip_duration_s": 0.294963879696115, + "trigger_time_s": 16.668737064636478, + "tube_detach_fraction": 0.4808277037288998, + "tube_engagement_fraction": 0.5720525606921756, + "tube_on_rack": true, + "upward_speed_mps": 0.08570016301549835 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_yaw_deg": -48.915647905254964, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_to_vortex_bearing_deg": -14.782214721668774, + "rack_to_vortex_distance_m": 0.5075197888250432, + "rack_yaw_deg": -48.915647905254964, + "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": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position_m": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993 + }, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "effective_peak_level_fraction": 0.6868321807421482, + "effective_vortex_level_rise_fraction": 0.19675266226592253, + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "present": true, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "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": 24990913, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + } + }, + "render_and_primary_validation_seconds": 47.541418933076784, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000073", + "schema_version": 15, + "seed": 24990913, + "shared_state_sha256": "c8256207da7eed1d143a223e3f8f92f06c41dfb784270466ab48c816eb23e005", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 5.380743556181166, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + }, + "trajectory_validation": { + "duration_s": 18.181989257652123, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.070865672341163e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0050798633807287484, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 545, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 545, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.009641059027777777, + "mean_luminance": 147.70831298828125, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 181, + 272, + 363, + 453, + 544 + ], + "spatial_standard_deviation": 39.083736419677734, + "valid": true + }, + "views": { + "front": { + "bytes": 24327615, + "metadata": "front.json", + "sha256": "b67974c1a2ac49641352f5b7d86793ffa933450eefb9c110eeb5b163b7e35a83", + "video": "front.mp4" + }, + "left": { + "bytes": 20201731, + "metadata": "left.json", + "sha256": "fe5c365160ad6f164cf7e90f537ff365c4ca94e29b19c44d6129d750e1b9808a", + "video": "left.mp4" + }, + "right": { + "bytes": 20796667, + "metadata": "right.json", + "sha256": "122aa3bf6a70e9c7f00886289705efcdf28935665f24dc5df528b82e73d55537", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993, + "worker_elapsed_seconds": 66.10761853400618, + "wrong_orientation": { + "azimuth_deg": 141.01896415939672, + "mode": "tilted", + "tilt_deg_from_z": 44.83830790943857 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.09126845448519483, + -0.35972664928788367, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -87.46969428098603, + "release_lateral_offset_m": 0.022204701477746808, + "release_phase_fraction": 0.7131478052282478, + "release_tilt_deg": 22.83856021083658, + "release_time_s": 16.608366874803313, + "slot_offset_xy": [ + 0.0, + 0.019 + ], + "tube_target_position": [ + 0.09474923675721215, + -0.3410482083793172, + 0.8500000000000001 + ], + "yaw_deg": -10.556152155020655 + } +} diff --git a/tube_drop/scene_000073/right.json b/tube_drop/scene_000073/right.json new file mode 100644 index 0000000000000000000000000000000000000000..bfee5fd97350ca10e4bceda4c5d21d5b2ffe919e --- /dev/null +++ b/tube_drop/scene_000073/right.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ], + "duration_s": 18.181989257652123, + "episode_id": 73, + "error_type": "tube_drop", + "frame_count": 545, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.167530437930343, + "direction_azimuth_deg": -150.8536940499615, + "lateral_speed_mps": 0.0377383547100332, + "phase": "lower_to_rack", + "phase_fraction": 0.7755758588398525, + "release_clearance_m": 0.011380968726532327, + "release_tilt_deg": 119.16640354916609, + "stage": "insertion", + "tip_duration_s": 0.294963879696115, + "trigger_time_s": 16.668737064636478, + "tube_detach_fraction": 0.4808277037288998, + "tube_engagement_fraction": 0.5720525606921756, + "tube_on_rack": true, + "upward_speed_mps": 0.08570016301549835 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_yaw_deg": -48.915647905254964, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.10306214652516665, + 1.1453161998773378, + 0.8511055503891793 + ], + "roll_deg": 89.64590472225265, + "surface": "rear_bench", + "uniform_scale": 0.8049043120773215, + "yaw_deg": -31.176838516671012 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48681979547848675, + -0.3785618050319237, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837439186018016, + "yaw_deg": -154.4269786580068 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.3110584258925948, + 0.2686705559913771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8728642994302253, + "yaw_deg": -41.28001581142399 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.309247067092434, + -0.34007774493176923, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9750473236866918, + "yaw_deg": 14.922790363904511 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.40998849192679154, + -0.16735104509722076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7888793751010101, + "yaw_deg": 73.48229883576195 + }, + { + "asset_id": "PIP-008", + "pitch_deg": -90.56772562762761, + "position": [ + -0.48421211686190035, + -0.2121328686841049, + 0.7983525257142307 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8535354037207177, + "yaw_deg": 168.502097361359 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.307317338689558, + 1.2353834543530247, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.10088817507004, + "yaw_deg": -96.01059259586131 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5345245643574569, + 0.288141921908374, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9172729476888155, + "yaw_deg": 18.477586656476177 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.4433310605391456, + -0.03832427318412435, + 0.7991817117520029 + ], + "roll_deg": -87.49104116444735, + "surface": "main_table", + "uniform_scale": 0.9540342584618555, + "yaw_deg": -77.84618446291526 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8381803376591467, + 0.7622098484349725, + 0.16369277045442726 + ], + "cabinet_color_rgb": [ + 0.604267029165704, + 0.705441564529337, + 0.6556662102562096 + ], + "floor_color_rgb": [ + 0.23241707024608468, + 0.31706601433322185, + 0.343182299877172 + ], + "screen_color_rgb": [ + 0.2915270187447576, + 0.6968233256611913, + 0.8225102220016942 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.676431661052729, + 0.8595183519011593, + 0.8382780418871665 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9442815611256596 + ], + "light_intensity": 1853.4577035394811, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.4427570285712735, + 0.18229270686460192, + 0.79 + ], + "rack_to_vortex_bearing_deg": -14.782214721668774, + "rack_to_vortex_distance_m": 0.5075197888250432, + "rack_yaw_deg": -48.915647905254964, + "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": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position_m": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993 + }, + "liquid": { + "color_rgb": [ + 0.022296759503216537, + 0.29601924752759234, + 0.2481421878324062 + ], + "effective_peak_level_fraction": 0.6868321807421482, + "effective_vortex_level_rise_fraction": 0.19675266226592253, + "fill_fraction": 0.4900795184762258, + "opacity": 0.931587461919209, + "present": true, + "vortex_level_rise_fraction": 0.19675266226592253 + }, + "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": 24990913, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000073", + "schema_version": 15, + "seed": 24990913, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "c8256207da7eed1d143a223e3f8f92f06c41dfb784270466ab48c816eb23e005", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 5.380743556181166, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.00973130221968121, + "depart_pattern": "s_sway", + "depart_sway_m": -0.009982203647306113, + "handling_noise_amplitude_m": 0.012550606721231938, + "handling_noise_frequency_hz": 2.068274165407946, + "handling_noise_phase_xyz_rad": [ + 4.190307583249515, + 0.6910585770845297, + 4.40342399347111 + ], + "lift_height_m": 0.09087500364696965, + "orientation_noise_deg": 5.72287089036958, + "outbound_curve_bias": -0.4755477926624805, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.885763340824347, + 18.181989257652123 + ], + "initial_hold": [ + 0.0, + 1.1281290410611287 + ], + "lift_from_rack": [ + 1.1281290410611287, + 3.7025685093043115 + ], + "lower_to_rack": [ + 15.918727107262468, + 16.885763340824347 + ], + "lower_to_vortex": [ + 6.4093024558798835, + 7.704133467933362 + ], + "raise_from_vortex": [ + 12.283858097043547, + 13.831417805058555 + ], + "transfer_to_rack": [ + 13.831417805058555, + 15.918727107262468 + ], + "transfer_to_vortex": [ + 3.7025685093043115, + 6.4093024558798835 + ], + "vortex": [ + 7.704133467933362, + 12.283858097043547 + ] + }, + "pick_line_azimuth_deg": 13.05818517375235, + "pick_line_tilt_deg": 6.286216772795855, + "pick_pattern": "s_sway", + "pick_sway_m": 0.005781116002794861, + "put_pattern": "lean", + "put_sway_m": 0.006206411099600068, + "rack_put_height_m": 0.3684569331804374, + "return_bend_scale": 1.3650963070805653, + "return_curve_bias": 0.02997881739221253, + "return_pattern": "loop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.334843633573281, + "transfer_bend_m": 0.13999790936552092, + "transfer_side": 1.0, + "transport_tilt_deg": 11.372654727800791, + "vertical_arc_m": 0.278606489769956, + "vortex_apparent_frequency_hz": 5.069762148297343, + "vortex_approach_height_m": 0.3116041240777984, + "vortex_depart_height_m": 0.12484417511005874, + "vortex_frequency_hz": 35.06976214829734, + "vortex_phase_rad": 4.1840107911352336, + "vortex_radius_m": 0.0006565437255014962, + "vortex_tilt_deg": 0.20538459506327364 + }, + "trajectory_validation": { + "duration_s": 18.181989257652123, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.070865672341163e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0050798633807287484, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6199999999999999, + "release_time_s": 5.380743556181166, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.6022097932401407, + "final_angular_speed_deg_s": 0.4009249806404114, + "final_linear_speed_mps": 0.00047968304716050625, + "final_position_m": [ + -0.10062558203935623, + 0.011138339526951313, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496750830645, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.182507038116455, + "first_impact_position_m": [ + -0.10088048875331879, + 0.011357277631759644, + 0.7778475284576416 + ], + "first_impact_surface": "table", + "first_impact_time_s": 5.733333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7778475284576416, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6199999999999999, + "release_position_m": [ + -0.10088049228088598, + 0.011357277873698616, + 1.3800573216977823 + ], + "release_time_s": 5.380743556181166, + "support_clearance_m": 0.0002496750830645045, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.45918626400854234, + 0.2011362793217235, + 0.8394 + ], + "tube_start_position": [ + -0.49204473488307987, + 0.23882342423596667, + 0.8394 + ], + "video": "right.mp4", + "video_sha256": "122aa3bf6a70e9c7f00886289705efcdf28935665f24dc5df528b82e73d55537", + "video_validation": { + "actual_frame_count": 545, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 545, + "frame_count_valid": true, + "full_decode_frame_count": 545, + "max_changed_pixel_fraction": 0.006680989583333333, + "mean_luminance": 139.10409545898438, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 91, + 181, + 272, + 363, + 453, + 544 + ], + "spatial_standard_deviation": 37.905067443847656, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.014912175469187466, + 0.09850089982693269, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.04796519274454564, + 0.052801249401629946, + 0.79 + ], + "vortex_yaw_deg": 35.87694821433993, + "wrong_orientation": { + "azimuth_deg": 141.01896415939672, + "mode": "tilted", + "tilt_deg_from_z": 44.83830790943857 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.09126845448519483, + -0.35972664928788367, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -87.46969428098603, + "release_lateral_offset_m": 0.022204701477746808, + "release_phase_fraction": 0.7131478052282478, + "release_tilt_deg": 22.83856021083658, + "release_time_s": 16.608366874803313, + "slot_offset_xy": [ + 0.0, + 0.019 + ], + "tube_target_position": [ + 0.09474923675721215, + -0.3410482083793172, + 0.8500000000000001 + ], + "yaw_deg": -10.556152155020655 + } +} diff --git a/tube_drop/scene_000081/front.json b/tube_drop/scene_000081/front.json new file mode 100644 index 0000000000000000000000000000000000000000..30caf269813b45f890a22969483a08575efb2c8f --- /dev/null +++ b/tube_drop/scene_000081/front.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ], + "duration_s": 16.359256241941768, + "episode_id": 81, + "error_type": "tube_drop", + "frame_count": 491, + "generation_success": true, + "light_color_rgb": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4519689165083927, + "direction_azimuth_deg": 63.60923323460639, + "lateral_speed_mps": 0.08498844391804597, + "phase": "lower_to_rack", + "phase_fraction": 0.69107183154218, + "release_clearance_m": 0.00884232817348982, + "release_tilt_deg": 112.60413839287342, + "stage": "insertion", + "tip_duration_s": 0.42275578054876417, + "trigger_time_s": 14.858827017431532, + "tube_detach_fraction": 0.44554760413385036, + "tube_engagement_fraction": 0.31967422766328474, + "tube_on_rack": true, + "upward_speed_mps": 0.08261907264480231 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_yaw_deg": -2.3094651385197764, + "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": 9, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_to_vortex_bearing_deg": 15.565538697221085, + "rack_to_vortex_distance_m": 0.42164934616780414, + "rack_yaw_deg": -2.3094651385197764, + "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": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position_m": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598 + }, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "effective_peak_level_fraction": 0.6186494000408556, + "effective_vortex_level_rise_fraction": 0.2004363037347429, + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "present": true, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "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": 25070910, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000081", + "schema_version": 15, + "seed": 25070910, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "1b56004a400fc1e5d5878889bfb4da236c237bf26a0407a64dee8a3196d5e942", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 7.7932800493321, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + }, + "trajectory_validation": { + "duration_s": 16.359256241941768, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.135936359693696e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003778252982857332, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "video": "front.mp4", + "video_sha256": "c0ae8225592e8d5e57f5536aa774695fcc193a9fb0cdf00d3b9e30a9304ebda4", + "video_validation": { + "actual_frame_count": 491, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 491, + "frame_count_valid": true, + "full_decode_frame_count": 491, + "max_changed_pixel_fraction": 0.012506944444444444, + "mean_luminance": 146.99388122558594, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 163, + 245, + 327, + 408, + 490 + ], + "spatial_standard_deviation": 37.84174346923828, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598, + "wrong_orientation": { + "azimuth_deg": 142.63623328787446, + "mode": "tilted", + "tilt_deg_from_z": 52.665400097911274 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 119.96469691689123, + "release_lateral_offset_m": 0.016067838298931762, + "release_phase_fraction": 0.682353550373437, + "release_tilt_deg": 28.34750925803037, + "release_time_s": 14.847199917880063, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.8500000000000001 + ], + "yaw_deg": -3.7589214109230937 + } +} diff --git a/tube_drop/scene_000081/left.json b/tube_drop/scene_000081/left.json new file mode 100644 index 0000000000000000000000000000000000000000..9d672290b074afa69aaa294cf0f1f2f156507318 --- /dev/null +++ b/tube_drop/scene_000081/left.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ], + "duration_s": 16.359256241941768, + "episode_id": 81, + "error_type": "tube_drop", + "frame_count": 491, + "generation_success": true, + "light_color_rgb": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4519689165083927, + "direction_azimuth_deg": 63.60923323460639, + "lateral_speed_mps": 0.08498844391804597, + "phase": "lower_to_rack", + "phase_fraction": 0.69107183154218, + "release_clearance_m": 0.00884232817348982, + "release_tilt_deg": 112.60413839287342, + "stage": "insertion", + "tip_duration_s": 0.42275578054876417, + "trigger_time_s": 14.858827017431532, + "tube_detach_fraction": 0.44554760413385036, + "tube_engagement_fraction": 0.31967422766328474, + "tube_on_rack": true, + "upward_speed_mps": 0.08261907264480231 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_yaw_deg": -2.3094651385197764, + "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": 9, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_to_vortex_bearing_deg": 15.565538697221085, + "rack_to_vortex_distance_m": 0.42164934616780414, + "rack_yaw_deg": -2.3094651385197764, + "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": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position_m": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598 + }, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "effective_peak_level_fraction": 0.6186494000408556, + "effective_vortex_level_rise_fraction": 0.2004363037347429, + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "present": true, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "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": 25070910, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000081", + "schema_version": 15, + "seed": 25070910, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "1b56004a400fc1e5d5878889bfb4da236c237bf26a0407a64dee8a3196d5e942", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 7.7932800493321, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + }, + "trajectory_validation": { + "duration_s": 16.359256241941768, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.135936359693696e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003778252982857332, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "video": "left.mp4", + "video_sha256": "4adc1e30e5ba40ee84a3c412478f27b7aa878eaa94f2ea5ab57afd4638fd031c", + "video_validation": { + "actual_frame_count": 491, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 491, + "frame_count_valid": true, + "full_decode_frame_count": 491, + "max_changed_pixel_fraction": 0.014462673611111112, + "mean_luminance": 147.92507934570312, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 163, + 245, + 327, + 408, + 490 + ], + "spatial_standard_deviation": 38.62837219238281, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598, + "wrong_orientation": { + "azimuth_deg": 142.63623328787446, + "mode": "tilted", + "tilt_deg_from_z": 52.665400097911274 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 119.96469691689123, + "release_lateral_offset_m": 0.016067838298931762, + "release_phase_fraction": 0.682353550373437, + "release_tilt_deg": 28.34750925803037, + "release_time_s": 14.847199917880063, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.8500000000000001 + ], + "yaw_deg": -3.7589214109230937 + } +} diff --git a/tube_drop/scene_000081/metadata.json b/tube_drop/scene_000081/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..9453218eaa0200a4fc27a74e996d35b3f3b12752 --- /dev/null +++ b/tube_drop/scene_000081/metadata.json @@ -0,0 +1,1166 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ], + "duration_s": 16.359256241941768, + "episode_id": 81, + "error_type": "tube_drop", + "frame_count": 491, + "generation_success": true, + "light_color_rgb": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.4519689165083927, + "direction_azimuth_deg": 63.60923323460639, + "lateral_speed_mps": 0.08498844391804597, + "phase": "lower_to_rack", + "phase_fraction": 0.69107183154218, + "release_clearance_m": 0.00884232817348982, + "release_tilt_deg": 112.60413839287342, + "stage": "insertion", + "tip_duration_s": 0.42275578054876417, + "trigger_time_s": 14.858827017431532, + "tube_detach_fraction": 0.44554760413385036, + "tube_engagement_fraction": 0.31967422766328474, + "tube_on_rack": true, + "upward_speed_mps": 0.08261907264480231 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_yaw_deg": -2.3094651385197764, + "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": 9, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_to_vortex_bearing_deg": 15.565538697221085, + "rack_to_vortex_distance_m": 0.42164934616780414, + "rack_yaw_deg": -2.3094651385197764, + "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": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position_m": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598 + }, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "effective_peak_level_fraction": 0.6186494000408556, + "effective_vortex_level_rise_fraction": 0.2004363037347429, + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "present": true, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "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": 25070910, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + } + }, + "render_and_primary_validation_seconds": 66.53489287896082, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000081", + "schema_version": 15, + "seed": 25070910, + "shared_state_sha256": "1b56004a400fc1e5d5878889bfb4da236c237bf26a0407a64dee8a3196d5e942", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 7.7932800493321, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + }, + "trajectory_validation": { + "duration_s": 16.359256241941768, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.135936359693696e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003778252982857332, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 491, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 491, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.014462673611111112, + "mean_luminance": 147.92507934570312, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 163, + 245, + 327, + 408, + 490 + ], + "spatial_standard_deviation": 38.62837219238281, + "valid": true + }, + "views": { + "front": { + "bytes": 20365674, + "metadata": "front.json", + "sha256": "c0ae8225592e8d5e57f5536aa774695fcc193a9fb0cdf00d3b9e30a9304ebda4", + "video": "front.mp4" + }, + "left": { + "bytes": 16864020, + "metadata": "left.json", + "sha256": "4adc1e30e5ba40ee84a3c412478f27b7aa878eaa94f2ea5ab57afd4638fd031c", + "video": "left.mp4" + }, + "right": { + "bytes": 17667035, + "metadata": "right.json", + "sha256": "fb700774978be65551759b82a8311523e6c8fc54c300f0e8b10bc500cca8883f", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598, + "worker_elapsed_seconds": 85.13907959498465, + "wrong_orientation": { + "azimuth_deg": 142.63623328787446, + "mode": "tilted", + "tilt_deg_from_z": 52.665400097911274 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 119.96469691689123, + "release_lateral_offset_m": 0.016067838298931762, + "release_phase_fraction": 0.682353550373437, + "release_tilt_deg": 28.34750925803037, + "release_time_s": 14.847199917880063, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.8500000000000001 + ], + "yaw_deg": -3.7589214109230937 + } +} diff --git a/tube_drop/scene_000081/right.json b/tube_drop/scene_000081/right.json new file mode 100644 index 0000000000000000000000000000000000000000..9ce781acb680784721cc9eebf5c4d7b705356594 --- /dev/null +++ b/tube_drop/scene_000081/right.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ], + "duration_s": 16.359256241941768, + "episode_id": 81, + "error_type": "tube_drop", + "frame_count": 491, + "generation_success": true, + "light_color_rgb": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4519689165083927, + "direction_azimuth_deg": 63.60923323460639, + "lateral_speed_mps": 0.08498844391804597, + "phase": "lower_to_rack", + "phase_fraction": 0.69107183154218, + "release_clearance_m": 0.00884232817348982, + "release_tilt_deg": 112.60413839287342, + "stage": "insertion", + "tip_duration_s": 0.42275578054876417, + "trigger_time_s": 14.858827017431532, + "tube_detach_fraction": 0.44554760413385036, + "tube_engagement_fraction": 0.31967422766328474, + "tube_on_rack": true, + "upward_speed_mps": 0.08261907264480231 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_yaw_deg": -2.3094651385197764, + "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": 9, + "placements": [ + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.19338864946514944, + 0.06010747933997801, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8894588412407614, + "yaw_deg": -112.57104504116239 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.5272147741821818, + 0.15407456961074456, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1243045408958794, + "yaw_deg": -147.0623738680025 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.4969420659324305, + 1.19518142229273, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0308311424711625, + "yaw_deg": -41.838315396609374 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.29113268740454296, + 0.36408301334859045, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1187225593038388, + "yaw_deg": -98.70955530584517 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.4069828768119059, + -0.21260623067637902, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.11116764628071, + "yaw_deg": -155.4926881426335 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5166197957529368, + -0.42679718729747385, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.155196171696168, + "yaw_deg": -123.44408592448364 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.616212733610882, + 1.1442966582206424, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0602400805920844, + "yaw_deg": -13.358066468630312 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.49635530879618683, + 0.0941895775432795, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.129237687503569, + "yaw_deg": 109.92904896464961 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.21330731035295403, + 1.088104658435501, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0671850025007399, + "yaw_deg": 0.39818599596358695 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8657729936549019, + 0.7009497092672924, + 0.22102856182377228 + ], + "cabinet_color_rgb": [ + 0.6336607284167175, + 0.6639420650355037, + 0.7334969065688022 + ], + "floor_color_rgb": [ + 0.2664531173978402, + 0.30031150733844886, + 0.37319102340659016 + ], + "screen_color_rgb": [ + 0.3080658273630457, + 0.7141552589142894, + 0.8047498029660032 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7535217855131017, + 0.8539760990352501, + 0.8440981362005543 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9237703834875293, + 0.92, + 0.92 + ], + "light_intensity": 2077.082499668334, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.17151706810029588, + -0.21239437893926405, + 0.79 + ], + "rack_to_vortex_bearing_deg": 15.565538697221085, + "rack_to_vortex_distance_m": 0.42164934616780414, + "rack_yaw_deg": -2.3094651385197764, + "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": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position_m": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598 + }, + "liquid": { + "color_rgb": [ + 0.030805645337008223, + 0.2349108073957295, + 0.3940234393214476 + ], + "effective_peak_level_fraction": 0.6186494000408556, + "effective_vortex_level_rise_fraction": 0.2004363037347429, + "fill_fraction": 0.4182130963061127, + "opacity": 0.8497813431392724, + "present": true, + "vortex_level_rise_fraction": 0.2004363037347429 + }, + "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": 25070910, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000081", + "schema_version": 15, + "seed": 25070910, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "1b56004a400fc1e5d5878889bfb4da236c237bf26a0407a64dee8a3196d5e942", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 7.7932800493321, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": 0.0028557895272764214, + "depart_pattern": "hook", + "depart_sway_m": -0.0117337631355399, + "handling_noise_amplitude_m": 0.014624796245997818, + "handling_noise_frequency_hz": 1.1764131663439672, + "handling_noise_phase_xyz_rad": [ + 5.199223286600265, + 0.18612485393862832, + 2.1097693162456044 + ], + "lift_height_m": 0.06571504703659753, + "orientation_noise_deg": 1.8543134006686521, + "outbound_curve_bias": 0.4036674153151478, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.270827789073262, + 16.359256241941768 + ], + "initial_hold": [ + 0.0, + 1.2440702459951407 + ], + "lift_from_rack": [ + 1.2440702459951407, + 3.0420864942022554 + ], + "lower_to_rack": [ + 13.937181933150013, + 15.270827789073262 + ], + "lower_to_vortex": [ + 5.055376740671821, + 5.6995570956806665 + ], + "raise_from_vortex": [ + 9.191437686220063, + 10.351980077554915 + ], + "transfer_to_rack": [ + 10.351980077554915, + 13.937181933150013 + ], + "transfer_to_vortex": [ + 3.0420864942022554, + 5.055376740671821 + ], + "vortex": [ + 5.6995570956806665, + 9.191437686220063 + ] + }, + "pick_line_azimuth_deg": 134.64966662268085, + "pick_line_tilt_deg": 11.700040867973648, + "pick_pattern": "straight", + "pick_sway_m": 0.004224005149845096, + "put_pattern": "s_sway", + "put_sway_m": -0.004607063164984497, + "rack_put_height_m": 0.2622750560933632, + "return_bend_scale": 0.4572244707751752, + "return_curve_bias": -0.5483702420234691, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6002360522559766, + "transfer_bend_m": 0.23086878638244177, + "transfer_side": -1.0, + "transport_tilt_deg": 17.05150128609885, + "vertical_arc_m": 0.24478601919148538, + "vortex_apparent_frequency_hz": 8.762096357746366, + "vortex_approach_height_m": 0.3069251143481744, + "vortex_depart_height_m": 0.19719640760046575, + "vortex_frequency_hz": 38.762096357746366, + "vortex_phase_rad": 1.8930945760913402, + "vortex_radius_m": 0.0003148018804726128, + "vortex_tilt_deg": 0.5677792114121455 + }, + "trajectory_validation": { + "duration_s": 16.359256241941768, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.135936359693696e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003778252982857332, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5995975232726998, + "release_time_s": 7.7932800493321, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.017721720963935317, + "final_angular_speed_deg_s": 0.0038660340942442417, + "final_linear_speed_mps": 5.3987746468919795e-06, + "final_position_m": [ + 0.4367354214191437, + -0.07704553753137589, + 0.9402499794960022 + ], + "final_protected_visual_minimum_z_m": 0.7902499777890226, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.007436792831867933, + "first_impact_position_m": [ + 0.3052133619785309, + -0.0851602554321289, + 0.9584808349609375 + ], + "first_impact_surface": "table", + "first_impact_time_s": 7.8, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.9402499794960022, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5995975232726998, + "release_position_m": [ + 0.30521292041187836, + -0.08516003437947735, + 0.9579717004599375 + ], + "release_time_s": 7.7932800493321, + "support_clearance_m": 0.00024997778902258183, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 3.5996302797428257, + "vortex_release_offset_m": 0.03399555329555849, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.24645614948493688, + -0.2093721146844127, + 0.8394 + ], + "tube_start_position": [ + -0.14653737430541555, + -0.21340180035754783, + 0.8394 + ], + "video": "right.mp4", + "video_sha256": "fb700774978be65551759b82a8311523e6c8fc54c300f0e8b10bc500cca8883f", + "video_validation": { + "actual_frame_count": 491, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 491, + "frame_count_valid": true, + "full_decode_frame_count": 491, + "max_changed_pixel_fraction": 0.009086371527777777, + "mean_luminance": 139.92872619628906, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 163, + 245, + 327, + 408, + 490 + ], + "spatial_standard_deviation": 36.01033020019531, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.2715885381337362, + -0.08737578954268276, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.23466792481287102, + -0.09924879724971113, + 0.79 + ], + "vortex_yaw_deg": -63.12370898762598, + "wrong_orientation": { + "azimuth_deg": 142.63623328787446, + "mode": "tilted", + "tilt_deg_from_z": 52.665400097911274 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 119.96469691689123, + "release_lateral_offset_m": 0.016067838298931762, + "release_phase_fraction": 0.682353550373437, + "release_tilt_deg": 28.34750925803037, + "release_time_s": 14.847199917880063, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.33377848376642894, + 0.19477629827647402, + 0.8500000000000001 + ], + "yaw_deg": -3.7589214109230937 + } +} diff --git a/tube_drop/scene_000083/front.json b/tube_drop/scene_000083/front.json new file mode 100644 index 0000000000000000000000000000000000000000..3d2f1bd910011f14d9134e866f68b5eb36df0118 --- /dev/null +++ b/tube_drop/scene_000083/front.json @@ -0,0 +1,1037 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ], + "duration_s": 16.58987247028065, + "episode_id": 83, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5267804767705244, + "direction_azimuth_deg": -122.92511956209785, + "lateral_speed_mps": 0.054752281405406444, + "phase": "lift_from_rack", + "phase_fraction": 0.3984770907585773, + "release_clearance_m": 0.008088756280763092, + "release_tilt_deg": 132.59932797818902, + "stage": "pickup", + "tip_duration_s": 0.45185350799049784, + "trigger_time_s": 1.4330047145131366, + "tube_detach_fraction": 0.4666684538152307, + "tube_engagement_fraction": 0.4208020210246296, + "tube_on_rack": true, + "upward_speed_mps": 0.07876006899220707 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_yaw_deg": -10.951720261071927, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_to_vortex_bearing_deg": -56.2685683195501, + "rack_to_vortex_distance_m": 0.48785299499884016, + "rack_yaw_deg": -10.951720261071927, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position_m": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124 + }, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "effective_peak_level_fraction": 0.7243852691135322, + "effective_vortex_level_rise_fraction": 0.22747758709791388, + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "present": true, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "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": 25090912, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000083", + "schema_version": 15, + "seed": 25090912, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "1f53b7b7b0d937a579bd6d6200e5a116a2cb468cde4657bb3592fb9c9c79c178", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.959564655417099, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + }, + "trajectory_validation": { + "duration_s": 16.58987247028065, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 3.5571561302006606e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.002106390396951504, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "video": "front.mp4", + "video_sha256": "adf3361ac3cd97bfe6c4fedfaf76a4d63ab077d4cfdc6cd4e991e292c1a426a8", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "full_decode_frame_count": 498, + "max_changed_pixel_fraction": 0.010810329861111112, + "mean_luminance": 147.6680145263672, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 36.50701904296875, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124, + "wrong_orientation": { + "azimuth_deg": -56.18547087638258, + "mode": "tilted", + "tilt_deg_from_z": 32.45546563790198 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.4095381453527404, + -0.2022717108418884, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 158.34501396256286, + "release_lateral_offset_m": 0.021209094028304752, + "release_phase_fraction": 0.6925903042961082, + "release_tilt_deg": 25.317508704667475, + "release_time_s": 15.51666101889447, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.389225898779624, + -0.16781285654937136, + 0.8500000000000001 + ], + "yaw_deg": 59.482190373913625 + } +} diff --git a/tube_drop/scene_000083/left.json b/tube_drop/scene_000083/left.json new file mode 100644 index 0000000000000000000000000000000000000000..cc6cf40fb60ee34e57c249add997ea4a39f220e4 --- /dev/null +++ b/tube_drop/scene_000083/left.json @@ -0,0 +1,1037 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ], + "duration_s": 16.58987247028065, + "episode_id": 83, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5267804767705244, + "direction_azimuth_deg": -122.92511956209785, + "lateral_speed_mps": 0.054752281405406444, + "phase": "lift_from_rack", + "phase_fraction": 0.3984770907585773, + "release_clearance_m": 0.008088756280763092, + "release_tilt_deg": 132.59932797818902, + "stage": "pickup", + "tip_duration_s": 0.45185350799049784, + "trigger_time_s": 1.4330047145131366, + "tube_detach_fraction": 0.4666684538152307, + "tube_engagement_fraction": 0.4208020210246296, + "tube_on_rack": true, + "upward_speed_mps": 0.07876006899220707 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_yaw_deg": -10.951720261071927, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_to_vortex_bearing_deg": -56.2685683195501, + "rack_to_vortex_distance_m": 0.48785299499884016, + "rack_yaw_deg": -10.951720261071927, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position_m": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124 + }, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "effective_peak_level_fraction": 0.7243852691135322, + "effective_vortex_level_rise_fraction": 0.22747758709791388, + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "present": true, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "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": 25090912, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000083", + "schema_version": 15, + "seed": 25090912, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "1f53b7b7b0d937a579bd6d6200e5a116a2cb468cde4657bb3592fb9c9c79c178", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.959564655417099, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + }, + "trajectory_validation": { + "duration_s": 16.58987247028065, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 3.5571561302006606e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.002106390396951504, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "video": "left.mp4", + "video_sha256": "5283d26ee198d01c71b3605fdf4fba5adea874811b116ded536f6e72e017fe09", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "full_decode_frame_count": 498, + "max_changed_pixel_fraction": 0.009194444444444444, + "mean_luminance": 147.45668029785156, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 37.283973693847656, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124, + "wrong_orientation": { + "azimuth_deg": -56.18547087638258, + "mode": "tilted", + "tilt_deg_from_z": 32.45546563790198 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.4095381453527404, + -0.2022717108418884, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 158.34501396256286, + "release_lateral_offset_m": 0.021209094028304752, + "release_phase_fraction": 0.6925903042961082, + "release_tilt_deg": 25.317508704667475, + "release_time_s": 15.51666101889447, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.389225898779624, + -0.16781285654937136, + 0.8500000000000001 + ], + "yaw_deg": 59.482190373913625 + } +} diff --git a/tube_drop/scene_000083/metadata.json b/tube_drop/scene_000083/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d3e245dbb48c3e5e9f6125bfe81c77fa3d440358 --- /dev/null +++ b/tube_drop/scene_000083/metadata.json @@ -0,0 +1,1112 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ], + "duration_s": 16.58987247028065, + "episode_id": 83, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 1.5267804767705244, + "direction_azimuth_deg": -122.92511956209785, + "lateral_speed_mps": 0.054752281405406444, + "phase": "lift_from_rack", + "phase_fraction": 0.3984770907585773, + "release_clearance_m": 0.008088756280763092, + "release_tilt_deg": 132.59932797818902, + "stage": "pickup", + "tip_duration_s": 0.45185350799049784, + "trigger_time_s": 1.4330047145131366, + "tube_detach_fraction": 0.4666684538152307, + "tube_engagement_fraction": 0.4208020210246296, + "tube_on_rack": true, + "upward_speed_mps": 0.07876006899220707 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_yaw_deg": -10.951720261071927, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_to_vortex_bearing_deg": -56.2685683195501, + "rack_to_vortex_distance_m": 0.48785299499884016, + "rack_yaw_deg": -10.951720261071927, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position_m": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124 + }, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "effective_peak_level_fraction": 0.7243852691135322, + "effective_vortex_level_rise_fraction": 0.22747758709791388, + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "present": true, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "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": 25090912, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + } + }, + "render_and_primary_validation_seconds": 125.33745320397429, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000083", + "schema_version": 15, + "seed": 25090912, + "shared_state_sha256": "1f53b7b7b0d937a579bd6d6200e5a116a2cb468cde4657bb3592fb9c9c79c178", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.959564655417099, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + }, + "trajectory_validation": { + "duration_s": 16.58987247028065, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 3.5571561302006606e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.002106390396951504, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.009194444444444444, + "mean_luminance": 147.45668029785156, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 37.283973693847656, + "valid": true + }, + "views": { + "front": { + "bytes": 20805482, + "metadata": "front.json", + "sha256": "adf3361ac3cd97bfe6c4fedfaf76a4d63ab077d4cfdc6cd4e991e292c1a426a8", + "video": "front.mp4" + }, + "left": { + "bytes": 18902329, + "metadata": "left.json", + "sha256": "5283d26ee198d01c71b3605fdf4fba5adea874811b116ded536f6e72e017fe09", + "video": "left.mp4" + }, + "right": { + "bytes": 19730175, + "metadata": "right.json", + "sha256": "2fda6e118ed207df16ba28de3c7b462c4cf8c201691e60bd4d22af8a6198e2c4", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124, + "worker_elapsed_seconds": 142.65467430790886, + "wrong_orientation": { + "azimuth_deg": -56.18547087638258, + "mode": "tilted", + "tilt_deg_from_z": 32.45546563790198 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.4095381453527404, + -0.2022717108418884, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 158.34501396256286, + "release_lateral_offset_m": 0.021209094028304752, + "release_phase_fraction": 0.6925903042961082, + "release_tilt_deg": 25.317508704667475, + "release_time_s": 15.51666101889447, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.389225898779624, + -0.16781285654937136, + 0.8500000000000001 + ], + "yaw_deg": 59.482190373913625 + } +} diff --git a/tube_drop/scene_000083/right.json b/tube_drop/scene_000083/right.json new file mode 100644 index 0000000000000000000000000000000000000000..02739f751272ca197f6b83e3e45e0f9977ff1652 --- /dev/null +++ b/tube_drop/scene_000083/right.json @@ -0,0 +1,1037 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ], + "duration_s": 16.58987247028065, + "episode_id": 83, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5267804767705244, + "direction_azimuth_deg": -122.92511956209785, + "lateral_speed_mps": 0.054752281405406444, + "phase": "lift_from_rack", + "phase_fraction": 0.3984770907585773, + "release_clearance_m": 0.008088756280763092, + "release_tilt_deg": 132.59932797818902, + "stage": "pickup", + "tip_duration_s": 0.45185350799049784, + "trigger_time_s": 1.4330047145131366, + "tube_detach_fraction": 0.4666684538152307, + "tube_engagement_fraction": 0.4208020210246296, + "tube_on_rack": true, + "upward_speed_mps": 0.07876006899220707 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_yaw_deg": -10.951720261071927, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.19200712582383062, + 0.3950227798258509, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8126970305323581, + "yaw_deg": 49.85302765134503 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6454605728645607, + -0.25808858146846647, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1110966211688649, + "yaw_deg": -64.87453629188045 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 91.51774957674351, + "position": [ + 0.3560827672321779, + 0.04621585685296142, + 0.8168201865764252 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1443559381054411, + "yaw_deg": -38.426125561478045 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.15661062171733642, + 1.063673132705611, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1158736889258012, + "yaw_deg": -167.12666429399633 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5504052421052568, + -0.26285240751660344, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1377773179002577, + "yaw_deg": -98.16393671544989 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.8296337299288679, + 1.0284310457555168, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.99232129386036, + "yaw_deg": 20.496498481352404 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.398820719000344, + 0.327311948807695, + 0.8092259837699627 + ], + "roll_deg": -89.95320129784476, + "surface": "main_table", + "uniform_scale": 1.1080463769208637, + "yaw_deg": -92.68508775879428 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8212538631341986, + 0.725997629810542, + 0.22064393263778237 + ], + "cabinet_color_rgb": [ + 0.6220683792557048, + 0.6576128272783298, + 0.6746889811691026 + ], + "floor_color_rgb": [ + 0.2742045625766256, + 0.310831717428502, + 0.3299273623348078 + ], + "screen_color_rgb": [ + 0.29743756628875156, + 0.7402586859906243, + 0.808868611465348 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7423888192415131, + 0.8483968392279818, + 0.7717712999607161 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9705049686837821 + ], + "light_intensity": 2223.135449451838, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + -0.2735157924559784, + 0.28538298698817927, + 0.79 + ], + "rack_to_vortex_bearing_deg": -56.2685683195501, + "rack_to_vortex_distance_m": 0.48785299499884016, + "rack_yaw_deg": -10.951720261071927, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position_m": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "vortex_contact_position_m": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124 + }, + "liquid": { + "color_rgb": [ + 0.0344829542285638, + 0.20321161904519777, + 0.36538306440839496 + ], + "effective_peak_level_fraction": 0.7243852691135322, + "effective_vortex_level_rise_fraction": 0.22747758709791388, + "fill_fraction": 0.49690768201561836, + "opacity": 0.8647832046248451, + "present": true, + "vortex_level_rise_fraction": 0.22747758709791388 + }, + "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": 25090912, + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000083", + "schema_version": 15, + "seed": 25090912, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "1f53b7b7b0d937a579bd6d6200e5a116a2cb468cde4657bb3592fb9c9c79c178", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.959564655417099, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "hook", + "approach_sway_m": -0.010068356375356032, + "depart_pattern": "lean", + "depart_sway_m": -0.0023619389990845348, + "handling_noise_amplitude_m": 0.011713133579128128, + "handling_noise_frequency_hz": 1.711076859818808, + "handling_noise_phase_xyz_rad": [ + 5.912851012544582, + 2.4313761493572685, + 2.7093961936755933 + ], + "lift_height_m": 0.09935045012931223, + "orientation_noise_deg": 4.072233295890377, + "outbound_curve_bias": -0.020960469864772957, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 15.703331277976503, + 16.58987247028065 + ], + "initial_hold": [ + 0.0, + 0.8037274858853983 + ], + "lift_from_rack": [ + 0.8037274858853983, + 2.3829330242258555 + ], + "lower_to_rack": [ + 15.096095196321352, + 15.703331277976503 + ], + "lower_to_vortex": [ + 5.1260112271882665, + 6.428879423665517 + ], + "raise_from_vortex": [ + 11.15049484495798, + 12.390070098930273 + ], + "transfer_to_rack": [ + 12.390070098930273, + 15.096095196321352 + ], + "transfer_to_vortex": [ + 2.3829330242258555, + 5.1260112271882665 + ], + "vortex": [ + 6.428879423665517, + 11.15049484495798 + ] + }, + "pick_line_azimuth_deg": -0.9515896091453442, + "pick_line_tilt_deg": 1.8041218180945782, + "pick_pattern": "lean", + "pick_sway_m": 0.0051945092883221525, + "put_pattern": "spiral", + "put_sway_m": 0.006974554924130269, + "rack_put_height_m": 0.13535234799740178, + "return_bend_scale": 0.5310385329411512, + "return_curve_bias": 0.03652779066468237, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.4599002918596462, + "transfer_bend_m": 0.0794895846025905, + "transfer_side": 1.0, + "transport_tilt_deg": 6.386432419908916, + "vertical_arc_m": 0.09593372584988102, + "vortex_apparent_frequency_hz": 8.315518211962008, + "vortex_approach_height_m": 0.1243085579815591, + "vortex_depart_height_m": 0.32546012406941843, + "vortex_frequency_hz": 38.31551821196201, + "vortex_phase_rad": 5.6336184296384495, + "vortex_radius_m": 0.00036187556110688107, + "vortex_tilt_deg": 0.8106863466713075 + }, + "trajectory_validation": { + "duration_s": 16.58987247028065, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 3.5571561302006606e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.002106390396951504, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5799999999999998, + "release_time_s": 13.959564655417099, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283959875658203, + "final_angular_speed_deg_s": 14.805511474609375, + "final_linear_speed_mps": 0.004776398651301861, + "final_position_m": [ + -0.17213474214076996, + 0.11657547205686569, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902499853841707, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + -0.18759462237358093, + 0.1301647424697876, + 0.777637243270874 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.258333333333333, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.777637243270874, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5799999999999998, + "release_position_m": [ + -0.187594616022625, + 0.13016474495070646, + 1.2060332308366943 + ], + "release_time_s": 13.959564655417099, + "support_clearance_m": 0.00024998538417064786, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.19988172108352614, + 0.27113435431284477, + 0.8529 + ], + "tube_start_position": [ + -0.24897110199849432, + 0.2806334427630678, + 0.8529 + ], + "video": "right.mp4", + "video_sha256": "2fda6e118ed207df16ba28de3c7b462c4cf8c201691e60bd4d22af8a6198e2c4", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "full_decode_frame_count": 498, + "max_changed_pixel_fraction": 0.007736979166666666, + "mean_luminance": 139.6664581298828, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 35.115997314453125, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.03819197791856557, + -0.07657985667773057, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.002610662063038338, + -0.12033976940603941, + 0.79 + ], + "vortex_yaw_deg": 39.114663285726124, + "wrong_orientation": { + "azimuth_deg": -56.18547087638258, + "mode": "tilted", + "tilt_deg_from_z": 32.45546563790198 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.4095381453527404, + -0.2022717108418884, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 158.34501396256286, + "release_lateral_offset_m": 0.021209094028304752, + "release_phase_fraction": 0.6925903042961082, + "release_tilt_deg": 25.317508704667475, + "release_time_s": 15.51666101889447, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + -0.389225898779624, + -0.16781285654937136, + 0.8500000000000001 + ], + "yaw_deg": 59.482190373913625 + } +} diff --git a/tube_drop/scene_000084/front.json b/tube_drop/scene_000084/front.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e475551810138651679b6f6de28335751cbd9d --- /dev/null +++ b/tube_drop/scene_000084/front.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ], + "duration_s": 16.80667580463266, + "episode_id": 84, + "error_type": "tube_drop", + "frame_count": 504, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9929732486754284, + "direction_azimuth_deg": -66.77963187525327, + "lateral_speed_mps": 0.07147852745655998, + "phase": "lower_to_rack", + "phase_fraction": 0.7235720689271243, + "release_clearance_m": 0.006514478684845684, + "release_tilt_deg": 126.24897506380087, + "stage": "insertion", + "tip_duration_s": 0.38819490758723757, + "trigger_time_s": 15.722518150217622, + "tube_detach_fraction": 0.6040711220954058, + "tube_engagement_fraction": 0.5782486971674297, + "tube_on_rack": true, + "upward_speed_mps": 0.09838767520031674 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_yaw_deg": -52.84966366255929, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_to_vortex_bearing_deg": 136.65962577574228, + "rack_to_vortex_distance_m": 0.4845192610816385, + "rack_yaw_deg": -52.84966366255929, + "return_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774 + }, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "effective_peak_level_fraction": 0.6578880979604536, + "effective_vortex_level_rise_fraction": 0.18527850485712297, + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "present": true, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "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": 25100909, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000084", + "schema_version": 15, + "seed": 25100909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "31f8c506128bef5a780757e274949256414c4e937cb61f125b73ee4795b76f48", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.167637095692578, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + }, + "trajectory_validation": { + "duration_s": 16.80667580463266, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.33167196845001e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.003447167068652646, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "32aa1c91ecbb46fbddfa6ee22060ce3ddc13863b416590f4219153f370e5aefe", + "video_validation": { + "actual_frame_count": 504, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 504, + "frame_count_valid": true, + "full_decode_frame_count": 504, + "max_changed_pixel_fraction": 0.012910590277777778, + "mean_luminance": 149.2738494873047, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 335, + 419, + 503 + ], + "spatial_standard_deviation": 32.755836486816406, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774, + "wrong_orientation": { + "azimuth_deg": 29.699975112672604, + "mode": "tilted", + "tilt_deg_from_z": 58.5150816431818 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.594553483055691, + -0.1392942588413305, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -148.56633770283128, + "release_lateral_offset_m": 0.014936762733100543, + "release_phase_fraction": 0.7346046726674544, + "release_tilt_deg": 23.376230652469523, + "release_time_s": 15.729464112255517, + "slot_offset_xy": [ + -0.04, + -0.019 + ], + "tube_target_position": [ + 0.5787634698641572, + -0.1806666588612857, + 0.8500000000000001 + ], + "yaw_deg": 43.70264075866038 + } +} diff --git a/tube_drop/scene_000084/left.json b/tube_drop/scene_000084/left.json new file mode 100644 index 0000000000000000000000000000000000000000..e695b2a06349aa1a0a9b5283b93070aca4dcc890 --- /dev/null +++ b/tube_drop/scene_000084/left.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ], + "duration_s": 16.80667580463266, + "episode_id": 84, + "error_type": "tube_drop", + "frame_count": 504, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9929732486754284, + "direction_azimuth_deg": -66.77963187525327, + "lateral_speed_mps": 0.07147852745655998, + "phase": "lower_to_rack", + "phase_fraction": 0.7235720689271243, + "release_clearance_m": 0.006514478684845684, + "release_tilt_deg": 126.24897506380087, + "stage": "insertion", + "tip_duration_s": 0.38819490758723757, + "trigger_time_s": 15.722518150217622, + "tube_detach_fraction": 0.6040711220954058, + "tube_engagement_fraction": 0.5782486971674297, + "tube_on_rack": true, + "upward_speed_mps": 0.09838767520031674 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_yaw_deg": -52.84966366255929, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_to_vortex_bearing_deg": 136.65962577574228, + "rack_to_vortex_distance_m": 0.4845192610816385, + "rack_yaw_deg": -52.84966366255929, + "return_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774 + }, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "effective_peak_level_fraction": 0.6578880979604536, + "effective_vortex_level_rise_fraction": 0.18527850485712297, + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "present": true, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "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": 25100909, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000084", + "schema_version": 15, + "seed": 25100909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "31f8c506128bef5a780757e274949256414c4e937cb61f125b73ee4795b76f48", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.167637095692578, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + }, + "trajectory_validation": { + "duration_s": 16.80667580463266, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.33167196845001e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.003447167068652646, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "3e84b6f9890f9a660564eab580ad5396b852cb61c829de8e80a08b0e07ee00f9", + "video_validation": { + "actual_frame_count": 504, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 504, + "frame_count_valid": true, + "full_decode_frame_count": 504, + "max_changed_pixel_fraction": 0.009488715277777778, + "mean_luminance": 149.84414672851562, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 335, + 419, + 503 + ], + "spatial_standard_deviation": 33.475772857666016, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774, + "wrong_orientation": { + "azimuth_deg": 29.699975112672604, + "mode": "tilted", + "tilt_deg_from_z": 58.5150816431818 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.594553483055691, + -0.1392942588413305, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -148.56633770283128, + "release_lateral_offset_m": 0.014936762733100543, + "release_phase_fraction": 0.7346046726674544, + "release_tilt_deg": 23.376230652469523, + "release_time_s": 15.729464112255517, + "slot_offset_xy": [ + -0.04, + -0.019 + ], + "tube_target_position": [ + 0.5787634698641572, + -0.1806666588612857, + 0.8500000000000001 + ], + "yaw_deg": 43.70264075866038 + } +} diff --git a/tube_drop/scene_000084/metadata.json b/tube_drop/scene_000084/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ac2094f3f68ff22baf6b6ee1337f04c8dcb25c60 --- /dev/null +++ b/tube_drop/scene_000084/metadata.json @@ -0,0 +1,1192 @@ +{ + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ], + "duration_s": 16.80667580463266, + "episode_id": 84, + "error_type": "tube_drop", + "frame_count": 504, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 1.9929732486754284, + "direction_azimuth_deg": -66.77963187525327, + "lateral_speed_mps": 0.07147852745655998, + "phase": "lower_to_rack", + "phase_fraction": 0.7235720689271243, + "release_clearance_m": 0.006514478684845684, + "release_tilt_deg": 126.24897506380087, + "stage": "insertion", + "tip_duration_s": 0.38819490758723757, + "trigger_time_s": 15.722518150217622, + "tube_detach_fraction": 0.6040711220954058, + "tube_engagement_fraction": 0.5782486971674297, + "tube_on_rack": true, + "upward_speed_mps": 0.09838767520031674 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_yaw_deg": -52.84966366255929, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_to_vortex_bearing_deg": 136.65962577574228, + "rack_to_vortex_distance_m": 0.4845192610816385, + "rack_yaw_deg": -52.84966366255929, + "return_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774 + }, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "effective_peak_level_fraction": 0.6578880979604536, + "effective_vortex_level_rise_fraction": 0.18527850485712297, + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "present": true, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "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": 25100909, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + } + }, + "render_and_primary_validation_seconds": 42.479524791939184, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000084", + "schema_version": 15, + "seed": 25100909, + "shared_state_sha256": "31f8c506128bef5a780757e274949256414c4e937cb61f125b73ee4795b76f48", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.167637095692578, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + }, + "trajectory_validation": { + "duration_s": 16.80667580463266, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.33167196845001e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.003447167068652646, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 504, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 504, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.009488715277777778, + "mean_luminance": 149.84414672851562, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 335, + 419, + 503 + ], + "spatial_standard_deviation": 33.475772857666016, + "valid": true + }, + "views": { + "front": { + "bytes": 20455990, + "metadata": "front.json", + "sha256": "32aa1c91ecbb46fbddfa6ee22060ce3ddc13863b416590f4219153f370e5aefe", + "video": "front.mp4" + }, + "left": { + "bytes": 19448915, + "metadata": "left.json", + "sha256": "3e84b6f9890f9a660564eab580ad5396b852cb61c829de8e80a08b0e07ee00f9", + "video": "left.mp4" + }, + "right": { + "bytes": 19442957, + "metadata": "right.json", + "sha256": "7cfbe2f619e42d4fab88f9ba4ed8e7bd0006cb18025a55e0a4889847c90f935f", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774, + "worker_elapsed_seconds": 59.89785719104111, + "wrong_orientation": { + "azimuth_deg": 29.699975112672604, + "mode": "tilted", + "tilt_deg_from_z": 58.5150816431818 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.594553483055691, + -0.1392942588413305, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -148.56633770283128, + "release_lateral_offset_m": 0.014936762733100543, + "release_phase_fraction": 0.7346046726674544, + "release_tilt_deg": 23.376230652469523, + "release_time_s": 15.729464112255517, + "slot_offset_xy": [ + -0.04, + -0.019 + ], + "tube_target_position": [ + 0.5787634698641572, + -0.1806666588612857, + 0.8500000000000001 + ], + "yaw_deg": 43.70264075866038 + } +} diff --git a/tube_drop/scene_000084/right.json b/tube_drop/scene_000084/right.json new file mode 100644 index 0000000000000000000000000000000000000000..d2101c354adfb99da122b7cc2e0c95f8c7e0c07a --- /dev/null +++ b/tube_drop/scene_000084/right.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ], + "duration_s": 16.80667580463266, + "episode_id": 84, + "error_type": "tube_drop", + "frame_count": 504, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9929732486754284, + "direction_azimuth_deg": -66.77963187525327, + "lateral_speed_mps": 0.07147852745655998, + "phase": "lower_to_rack", + "phase_fraction": 0.7235720689271243, + "release_clearance_m": 0.006514478684845684, + "release_tilt_deg": 126.24897506380087, + "stage": "insertion", + "tip_duration_s": 0.38819490758723757, + "trigger_time_s": 15.722518150217622, + "tube_detach_fraction": 0.6040711220954058, + "tube_engagement_fraction": 0.5782486971674297, + "tube_on_rack": true, + "upward_speed_mps": 0.09838767520031674 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_yaw_deg": -52.84966366255929, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.47618295392028254, + 0.09436351530713621, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9535847765378298, + "yaw_deg": -171.55657008537938 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.40711295465489605, + 0.419207485798938, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8310435053278238, + "yaw_deg": -81.54204151943223 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.31709676863079717, + 1.0923900190854545, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9092093499191464, + "yaw_deg": -30.789741376724635 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.4499679579155928, + -0.19892566425073144, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8296581815929944, + "yaw_deg": -81.39652113825785 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.6124870895287463, + 1.196892353013548, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8301154908412549, + "yaw_deg": 106.47000889691884 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.6659692721748367, + 1.1716764765060408, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1592963438119508, + "yaw_deg": -159.37303671043856 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.6922857594203115, + -0.009073502453027349, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9648598195613459, + "yaw_deg": -105.03275186086432 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.6655090509133594, + 0.23681316345028847, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8024866824973256, + "yaw_deg": 133.55794271826403 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -88.25339096989795, + "position": [ + -0.10530515104412663, + -0.346181556654699, + 0.819215009936219 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.027370659614275, + "yaw_deg": 79.42064014825581 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.2727848786729531, + 0.21746289376878558, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9823929627134774, + "yaw_deg": -56.92506284342609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.21993488049653745, + 0.5355898922554995, + 0.673243605529106 + ], + "cabinet_color_rgb": [ + 0.7366144675300595, + 0.7873471892295676, + 0.8239943979278055 + ], + "floor_color_rgb": [ + 0.25751220449062634, + 0.336474018718595, + 0.4039831404323743 + ], + "screen_color_rgb": [ + 0.5421836518804708, + 0.7661765317694087, + 0.9151516216757405 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7603932409696408, + 0.8626576333823598, + 0.8786573868115921 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9456597341542422 + ], + "light_intensity": 1601.854861492302, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.21235595843522304, + -0.2603523160102774, + 0.79 + ], + "rack_to_vortex_bearing_deg": 136.65962577574228, + "rack_to_vortex_distance_m": 0.4845192610816385, + "rack_yaw_deg": -52.84966366255929, + "return_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774 + }, + "liquid": { + "color_rgb": [ + 0.3750119046882053, + 0.19367626197755528, + 0.02473464658721577 + ], + "effective_peak_level_fraction": 0.6578880979604536, + "effective_vortex_level_rise_fraction": 0.18527850485712297, + "fill_fraction": 0.4726095931033306, + "opacity": 0.8648489013064069, + "present": true, + "vortex_level_rise_fraction": 0.18527850485712297 + }, + "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": 25100909, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000084", + "schema_version": 15, + "seed": 25100909, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "31f8c506128bef5a780757e274949256414c4e937cb61f125b73ee4795b76f48", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.167637095692578, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": -0.008176316004559382, + "depart_pattern": "spiral", + "depart_sway_m": 0.0044223844610271805, + "handling_noise_amplitude_m": 0.003182301033393237, + "handling_noise_frequency_hz": 0.9596997265513943, + "handling_noise_phase_xyz_rad": [ + 0.0799426491792902, + 0.5619206698724948, + 3.658615877233944 + ], + "lift_height_m": 0.15551027849080523, + "orientation_noise_deg": 4.121805756700196, + "outbound_curve_bias": -0.32170046901648, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.896553034514916, + 16.80667580463266 + ], + "initial_hold": [ + 0.0, + 1.1519111785284162 + ], + "lift_from_rack": [ + 1.1519111785284162, + 2.764427279788602 + ], + "lower_to_rack": [ + 15.26696801529552, + 15.896553034514916 + ], + "lower_to_vortex": [ + 6.226199405054813, + 7.219493671976406 + ], + "raise_from_vortex": [ + 11.468265441258712, + 12.155090819663714 + ], + "transfer_to_rack": [ + 12.155090819663714, + 15.26696801529552 + ], + "transfer_to_vortex": [ + 2.764427279788602, + 6.226199405054813 + ], + "vortex": [ + 7.219493671976406, + 11.468265441258712 + ] + }, + "pick_line_azimuth_deg": 134.58215455916962, + "pick_line_tilt_deg": 11.171383941382746, + "pick_pattern": "straight", + "pick_sway_m": -0.005281270460492165, + "put_pattern": "hook", + "put_sway_m": -0.008136845093894372, + "rack_put_height_m": 0.11008270741097984, + "return_bend_scale": 1.176279358474855, + "return_curve_bias": 0.009214307017605061, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.178697325288599, + "transfer_bend_m": 0.18791136276524842, + "transfer_side": -1.0, + "transport_tilt_deg": 14.017702252081554, + "vertical_arc_m": 0.16688487331421825, + "vortex_apparent_frequency_hz": 8.223696876645292, + "vortex_approach_height_m": 0.35082506793362506, + "vortex_depart_height_m": 0.08123234060288355, + "vortex_frequency_hz": 38.22369687664529, + "vortex_phase_rad": 4.218436484181274, + "vortex_radius_m": 0.0006545103690489825, + "vortex_tilt_deg": 0.4325404375216695 + }, + "trajectory_validation": { + "duration_s": 16.80667580463266, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.33167196845001e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.003447167068652646, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.45851919790110274, + "release_time_s": 9.167637095692578, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.18230682329973136, + "final_angular_speed_deg_s": 31.197362899780273, + "final_linear_speed_mps": 0.009915030561387539, + "final_position_m": [ + -0.2539273500442505, + 0.40246713161468506, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499397218739, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.008985246531665325, + "first_impact_position_m": [ + -0.17728999257087708, + 0.12393919378519058, + 0.9794792532920837 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.175, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.796809732913971, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.45851919790110274, + "release_position_m": [ + -0.17729762695402929, + 0.12393413124833481, + 0.9791165562137023 + ], + "release_time_s": 9.167637095692578, + "support_clearance_m": 0.0002499397218738153, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 120.93830496652822, + "vortex_release_offset_m": 0.03551240977984945, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.21892289597470915, + -0.21271960318230082, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "7cfbe2f619e42d4fab88f9ba4ed8e7bd0006cb18025a55e0a4889847c90f935f", + "video_validation": { + "actual_frame_count": 504, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 504, + "frame_count_valid": true, + "full_decode_frame_count": 504, + "max_changed_pixel_fraction": 0.009323784722222223, + "mean_luminance": 141.01185607910156, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 335, + 419, + 503 + ], + "spatial_standard_deviation": 33.04958724975586, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.15946796037538838, + 0.092979018743322, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.1400297187445934, + 0.0721882813272795, + 0.79 + ], + "vortex_yaw_deg": 24.002902307343774, + "wrong_orientation": { + "azimuth_deg": 29.699975112672604, + "mode": "tilted", + "tilt_deg_from_z": 58.5150816431818 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.594553483055691, + -0.1392942588413305, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -148.56633770283128, + "release_lateral_offset_m": 0.014936762733100543, + "release_phase_fraction": 0.7346046726674544, + "release_tilt_deg": 23.376230652469523, + "release_time_s": 15.729464112255517, + "slot_offset_xy": [ + -0.04, + -0.019 + ], + "tube_target_position": [ + 0.5787634698641572, + -0.1806666588612857, + 0.8500000000000001 + ], + "yaw_deg": 43.70264075866038 + } +} diff --git a/tube_drop/scene_000122/front.json b/tube_drop/scene_000122/front.json new file mode 100644 index 0000000000000000000000000000000000000000..2536e7634b8d250a2e96a0b71d2cb4cbc5c42717 --- /dev/null +++ b/tube_drop/scene_000122/front.json @@ -0,0 +1,985 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ], + "duration_s": 16.47604119034187, + "episode_id": 122, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9516549815156927, + "direction_azimuth_deg": -114.86958205207534, + "lateral_speed_mps": 0.0591546254688316, + "phase": "lower_to_rack", + "phase_fraction": 0.8166435518140087, + "release_clearance_m": 0.005818495500148518, + "release_tilt_deg": 133.97198672418443, + "stage": "insertion", + "tip_duration_s": 0.3668558267718567, + "trigger_time_s": 15.23305576618979, + "tube_detach_fraction": 0.5835415346531133, + "tube_engagement_fraction": 0.5348187479663113, + "tube_on_rack": true, + "upward_speed_mps": 0.0853611330649343 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_yaw_deg": -36.24246944660476, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 5, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_to_vortex_bearing_deg": -4.360303489309673, + "rack_to_vortex_distance_m": 0.5897546459857336, + "rack_yaw_deg": -36.24246944660476, + "return_slot_offset_xy_m": [ + 0.0, + -0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "tube_return_position_m": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942 + }, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "effective_peak_level_fraction": 0.667188840478904, + "effective_vortex_level_rise_fraction": 0.2230150384623826, + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "present": true, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "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": 141220004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.0, + -0.068 + ], + "scene_id": "tube_drop/scene_000122", + "schema_version": 15, + "seed": 141220004, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "026b91563f1ecc632995d92cd4b13edd523b68416c326ade60dec242fead3fe3", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 14.049482081421552, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + }, + "trajectory_validation": { + "duration_s": 16.47604119034187, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.122320832184582e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00753698299269561, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "e91ef9f9585a68ebe3c030e2c9b5665340691c48f76d138d0474c722f2fe1994", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "full_decode_frame_count": 494, + "max_changed_pixel_fraction": 0.012415364583333333, + "mean_luminance": 116.85843658447266, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 39.75508117675781, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942, + "wrong_orientation": { + "azimuth_deg": 14.838216608469395, + "mode": "tilted", + "tilt_deg_from_z": 50.75987489458588 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.435917919699679, + -0.2926244253169041, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -105.55365579016659, + "release_lateral_offset_m": 0.023394019405349326, + "release_phase_fraction": 0.728281766951258, + "release_tilt_deg": 32.906662321910844, + "release_time_s": 15.159265253534654, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + -0.4167587440260538, + -0.3124719941228603, + 0.8500000000000001 + ], + "yaw_deg": -2.479854767481399 + } +} diff --git a/tube_drop/scene_000122/left.json b/tube_drop/scene_000122/left.json new file mode 100644 index 0000000000000000000000000000000000000000..0239037306ad6f4a8cc1a530789335ebe6a0f55f --- /dev/null +++ b/tube_drop/scene_000122/left.json @@ -0,0 +1,985 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ], + "duration_s": 16.47604119034187, + "episode_id": 122, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9516549815156927, + "direction_azimuth_deg": -114.86958205207534, + "lateral_speed_mps": 0.0591546254688316, + "phase": "lower_to_rack", + "phase_fraction": 0.8166435518140087, + "release_clearance_m": 0.005818495500148518, + "release_tilt_deg": 133.97198672418443, + "stage": "insertion", + "tip_duration_s": 0.3668558267718567, + "trigger_time_s": 15.23305576618979, + "tube_detach_fraction": 0.5835415346531133, + "tube_engagement_fraction": 0.5348187479663113, + "tube_on_rack": true, + "upward_speed_mps": 0.0853611330649343 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_yaw_deg": -36.24246944660476, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 5, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_to_vortex_bearing_deg": -4.360303489309673, + "rack_to_vortex_distance_m": 0.5897546459857336, + "rack_yaw_deg": -36.24246944660476, + "return_slot_offset_xy_m": [ + 0.0, + -0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "tube_return_position_m": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942 + }, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "effective_peak_level_fraction": 0.667188840478904, + "effective_vortex_level_rise_fraction": 0.2230150384623826, + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "present": true, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "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": 141220004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.0, + -0.068 + ], + "scene_id": "tube_drop/scene_000122", + "schema_version": 15, + "seed": 141220004, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "026b91563f1ecc632995d92cd4b13edd523b68416c326ade60dec242fead3fe3", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 14.049482081421552, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + }, + "trajectory_validation": { + "duration_s": 16.47604119034187, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.122320832184582e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00753698299269561, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "6411ab3a1feb9ccb4cdb87da10e76bc25f360fb87098fdf4e2e62eecf29610cf", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "full_decode_frame_count": 494, + "max_changed_pixel_fraction": 0.0056484375, + "mean_luminance": 107.03042602539062, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 35.215091705322266, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942, + "wrong_orientation": { + "azimuth_deg": 14.838216608469395, + "mode": "tilted", + "tilt_deg_from_z": 50.75987489458588 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.435917919699679, + -0.2926244253169041, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -105.55365579016659, + "release_lateral_offset_m": 0.023394019405349326, + "release_phase_fraction": 0.728281766951258, + "release_tilt_deg": 32.906662321910844, + "release_time_s": 15.159265253534654, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + -0.4167587440260538, + -0.3124719941228603, + 0.8500000000000001 + ], + "yaw_deg": -2.479854767481399 + } +} diff --git a/tube_drop/scene_000122/metadata.json b/tube_drop/scene_000122/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc0a0ff718a4f93266f2e7acd7dcfd6ce2dfbda --- /dev/null +++ b/tube_drop/scene_000122/metadata.json @@ -0,0 +1,1060 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ], + "duration_s": 16.47604119034187, + "episode_id": 122, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 1.9516549815156927, + "direction_azimuth_deg": -114.86958205207534, + "lateral_speed_mps": 0.0591546254688316, + "phase": "lower_to_rack", + "phase_fraction": 0.8166435518140087, + "release_clearance_m": 0.005818495500148518, + "release_tilt_deg": 133.97198672418443, + "stage": "insertion", + "tip_duration_s": 0.3668558267718567, + "trigger_time_s": 15.23305576618979, + "tube_detach_fraction": 0.5835415346531133, + "tube_engagement_fraction": 0.5348187479663113, + "tube_on_rack": true, + "upward_speed_mps": 0.0853611330649343 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_yaw_deg": -36.24246944660476, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 5, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_to_vortex_bearing_deg": -4.360303489309673, + "rack_to_vortex_distance_m": 0.5897546459857336, + "rack_yaw_deg": -36.24246944660476, + "return_slot_offset_xy_m": [ + 0.0, + -0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "tube_return_position_m": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942 + }, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "effective_peak_level_fraction": 0.667188840478904, + "effective_vortex_level_rise_fraction": 0.2230150384623826, + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "present": true, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "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": 141220004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + } + }, + "render_and_primary_validation_seconds": 172.26777826296166, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.0, + -0.068 + ], + "scene_id": "tube_drop/scene_000122", + "schema_version": 15, + "seed": 141220004, + "shared_state_sha256": "026b91563f1ecc632995d92cd4b13edd523b68416c326ade60dec242fead3fe3", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 14.049482081421552, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + }, + "trajectory_validation": { + "duration_s": 16.47604119034187, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.122320832184582e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00753698299269561, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.0056484375, + "mean_luminance": 107.03042602539062, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 35.215091705322266, + "valid": true + }, + "views": { + "front": { + "bytes": 21148983, + "metadata": "front.json", + "sha256": "e91ef9f9585a68ebe3c030e2c9b5665340691c48f76d138d0474c722f2fe1994", + "video": "front.mp4" + }, + "left": { + "bytes": 19659085, + "metadata": "left.json", + "sha256": "6411ab3a1feb9ccb4cdb87da10e76bc25f360fb87098fdf4e2e62eecf29610cf", + "video": "left.mp4" + }, + "right": { + "bytes": 18579274, + "metadata": "right.json", + "sha256": "ba92a56da7f2d067de661b7fa33d08be1c0f84e098e1a70d626b59619ea6a717", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942, + "worker_elapsed_seconds": 192.88991970499046, + "wrong_orientation": { + "azimuth_deg": 14.838216608469395, + "mode": "tilted", + "tilt_deg_from_z": 50.75987489458588 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.435917919699679, + -0.2926244253169041, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -105.55365579016659, + "release_lateral_offset_m": 0.023394019405349326, + "release_phase_fraction": 0.728281766951258, + "release_tilt_deg": 32.906662321910844, + "release_time_s": 15.159265253534654, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + -0.4167587440260538, + -0.3124719941228603, + 0.8500000000000001 + ], + "yaw_deg": -2.479854767481399 + } +} diff --git a/tube_drop/scene_000122/right.json b/tube_drop/scene_000122/right.json new file mode 100644 index 0000000000000000000000000000000000000000..66bb8cfd6baa3ac4f8ad7883bef997598d410831 --- /dev/null +++ b/tube_drop/scene_000122/right.json @@ -0,0 +1,985 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ], + "duration_s": 16.47604119034187, + "episode_id": 122, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9516549815156927, + "direction_azimuth_deg": -114.86958205207534, + "lateral_speed_mps": 0.0591546254688316, + "phase": "lower_to_rack", + "phase_fraction": 0.8166435518140087, + "release_clearance_m": 0.005818495500148518, + "release_tilt_deg": 133.97198672418443, + "stage": "insertion", + "tip_duration_s": 0.3668558267718567, + "trigger_time_s": 15.23305576618979, + "tube_detach_fraction": 0.5835415346531133, + "tube_engagement_fraction": 0.5348187479663113, + "tube_on_rack": true, + "upward_speed_mps": 0.0853611330649343 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_yaw_deg": -36.24246944660476, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 5, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4069789460396307, + 0.1199463667092524, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8084731217706028, + "yaw_deg": -168.3337115391667 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5621517606346729, + 0.3615860079729076, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9601617969137831, + "yaw_deg": 30.04499069673679 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.2844986701878023, + 0.2270595491297861, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8347478527485677, + "yaw_deg": 7.649781513716505 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6539336019792822, + 1.1428395769053534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1526072157087268, + "yaw_deg": -147.48145637052403 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.6220094391863107, + 0.3988260153719704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.167071755743494, + "yaw_deg": -168.6014195092576 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6257241454518133, + 0.36701769190807987, + 0.7144574047759206 + ], + "cabinet_color_rgb": [ + 0.2346242923734396, + 0.2535473066176424, + 0.38609172260547087 + ], + "floor_color_rgb": [ + 0.14412506735682262, + 0.20195783568284953, + 0.29740283922267535 + ], + "screen_color_rgb": [ + 0.2380978878293047, + 0.7256837232309765, + 0.8881743001957614 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3118051912080819, + 0.4037706328067074, + 0.48967586923743384 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9966405099005377, + 0.92, + 0.92 + ], + "light_intensity": 2579.893395233748, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.05003609209811288, + -0.011163943931879916, + 0.79 + ], + "rack_to_vortex_bearing_deg": -4.360303489309673, + "rack_to_vortex_distance_m": 0.5897546459857336, + "rack_yaw_deg": -36.24246944660476, + "return_slot_offset_xy_m": [ + 0.0, + -0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "tube_return_position_m": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942 + }, + "liquid": { + "color_rgb": [ + 0.32744745286154564, + 0.08531515569617176, + 0.18395111425145003 + ], + "effective_peak_level_fraction": 0.667188840478904, + "effective_vortex_level_rise_fraction": 0.2230150384623826, + "fill_fraction": 0.44417380201652146, + "opacity": 0.8308076628278686, + "present": true, + "vortex_level_rise_fraction": 0.2230150384623826 + }, + "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": 141220004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.0, + -0.068 + ], + "scene_id": "tube_drop/scene_000122", + "schema_version": 15, + "seed": 141220004, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "026b91563f1ecc632995d92cd4b13edd523b68416c326ade60dec242fead3fe3", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 14.049482081421552, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.0094091799715105, + "depart_pattern": "hook", + "depart_sway_m": -0.006282761837449823, + "handling_noise_amplitude_m": 0.0068716783481924055, + "handling_noise_frequency_hz": 2.7800734128234956, + "handling_noise_phase_xyz_rad": [ + 5.201089742106279, + 3.1828364538380276, + 1.8659122801436945 + ], + "lift_height_m": 0.11688803255896353, + "orientation_noise_deg": 4.394483182052963, + "outbound_curve_bias": 0.6074695954208047, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 15.386175877234223, + 16.47604119034187 + ], + "initial_hold": [ + 0.0, + 1.2181127613273386 + ], + "lift_from_rack": [ + 1.2181127613273386, + 3.3946871449779987 + ], + "lower_to_rack": [ + 14.551080561201957, + 15.386175877234223 + ], + "lower_to_vortex": [ + 5.917526537208957, + 6.8036283102220345 + ], + "raise_from_vortex": [ + 10.72301862820519, + 12.271087471291022 + ], + "transfer_to_rack": [ + 12.271087471291022, + 14.551080561201957 + ], + "transfer_to_vortex": [ + 3.3946871449779987, + 5.917526537208957 + ], + "vortex": [ + 6.8036283102220345, + 10.72301862820519 + ] + }, + "pick_line_azimuth_deg": 21.326123875528566, + "pick_line_tilt_deg": 6.70131824202086, + "pick_pattern": "straight", + "pick_sway_m": 0.009982679662576315, + "put_pattern": "straight", + "put_sway_m": -0.006991312851330275, + "rack_put_height_m": 0.35243311529139454, + "return_bend_scale": 1.5927870780143762, + "return_curve_bias": -0.23287620989622004, + "return_pattern": "double_s", + "return_side": -1.0, + "return_vertical_arc_scale": 1.5084352360378352, + "transfer_bend_m": 0.22385606042212328, + "transfer_side": -1.0, + "transport_tilt_deg": 2.001532862704794, + "vertical_arc_m": 0.3206115583331976, + "vortex_apparent_frequency_hz": 11.224283451125672, + "vortex_approach_height_m": 0.10428164150611773, + "vortex_depart_height_m": 0.27203255931793985, + "vortex_frequency_hz": 41.22428345112567, + "vortex_phase_rad": 3.5572056695846093, + "vortex_radius_m": 0.0007300029722219447, + "vortex_tilt_deg": 0.2680353256987729 + }, + "trajectory_validation": { + "duration_s": 16.47604119034187, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.122320832184582e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00753698299269561, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.7799999999999998, + "release_time_s": 14.049482081421552, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45152317889682325, + "final_angular_speed_deg_s": 0.01714405044913292, + "final_linear_speed_mps": 4.350644667283632e-05, + "final_position_m": [ + -0.024675188586115837, + -0.24053210020065308, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902499879339826, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7752671241760254, + "first_impact_position_m": [ + -0.024851907044649124, + -0.2403392493724823, + 0.7860762476921082 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.35, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7860762476921082, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.7799999999999998, + "release_position_m": [ + -0.02485190689430509, + -0.24033924361972983, + 1.2375994265889314 + ], + "release_time_s": 14.049482081421552, + "support_clearance_m": 0.000249987933982565, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.09023794028874307, + -0.06600746134330718, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.12498053360485524, + 0.001616145553036654, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "ba92a56da7f2d067de661b7fa33d08be1c0f84e098e1a70d626b59619ea6a717", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "full_decode_frame_count": 494, + "max_changed_pixel_fraction": 0.008417534722222222, + "mean_luminance": 105.63571166992188, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 39.14570999145508, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.536514975738019, + 0.0003782010992132573, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.5380116072787325, + -0.05600193808145338, + 0.79 + ], + "vortex_yaw_deg": 1.5205804550229942, + "wrong_orientation": { + "azimuth_deg": 14.838216608469395, + "mode": "tilted", + "tilt_deg_from_z": 50.75987489458588 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.435917919699679, + -0.2926244253169041, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -105.55365579016659, + "release_lateral_offset_m": 0.023394019405349326, + "release_phase_fraction": 0.728281766951258, + "release_tilt_deg": 32.906662321910844, + "release_time_s": 15.159265253534654, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + -0.4167587440260538, + -0.3124719941228603, + 0.8500000000000001 + ], + "yaw_deg": -2.479854767481399 + } +} diff --git a/tube_drop/scene_000130/front.json b/tube_drop/scene_000130/front.json new file mode 100644 index 0000000000000000000000000000000000000000..6f52c78c56d3917f756eb0362ee017766dd975da --- /dev/null +++ b/tube_drop/scene_000130/front.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ], + "duration_s": 15.392495354706284, + "episode_id": 130, + "error_type": "tube_drop", + "frame_count": 462, + "generation_success": true, + "light_color_rgb": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.3542731673426607, + "direction_azimuth_deg": -77.4342112031487, + "lateral_speed_mps": 0.052405790814390826, + "phase": "lift_from_rack", + "phase_fraction": 0.2910333676501313, + "release_clearance_m": 0.004151987528914395, + "release_tilt_deg": 129.59107646321803, + "stage": "pickup", + "tip_duration_s": 0.3855205082366714, + "trigger_time_s": 1.4964889734705076, + "tube_detach_fraction": 0.46560015517191283, + "tube_engagement_fraction": 0.5640795870856702, + "tube_on_rack": true, + "upward_speed_mps": 0.0690939404332936 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_yaw_deg": 38.822769200236465, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_to_vortex_bearing_deg": 22.77941829449819, + "rack_to_vortex_distance_m": 0.8427399616801947, + "rack_yaw_deg": 38.822769200236465, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752 + }, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "effective_peak_level_fraction": 0.7285542057401879, + "effective_vortex_level_rise_fraction": 0.21405560414910768, + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "present": true, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "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": 141300000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000130", + "schema_version": 15, + "seed": 141300000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "6ba296b5b548e995265d10734ea0f048b60d41cdc2214245d20f45f619ca36b6", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.6585583060851987, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + }, + "trajectory_validation": { + "duration_s": 15.392495354706284, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.73118598013655e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003798024770070568, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "fc37edb4db806416fdb9e48a7338d7926e79fb9c3981da7baf9a252179924c87", + "video_validation": { + "actual_frame_count": 462, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 462, + "frame_count_valid": true, + "full_decode_frame_count": 462, + "max_changed_pixel_fraction": 0.014592447916666666, + "mean_luminance": 156.64532470703125, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 77, + 154, + 230, + 307, + 384, + 461 + ], + "spatial_standard_deviation": 32.221710205078125, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752, + "wrong_orientation": { + "azimuth_deg": -142.96786305248295, + "mode": "tilted", + "tilt_deg_from_z": 53.381512987023015 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5982655734464795, + 0.31667031636710263, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -57.461899999695675, + "release_lateral_offset_m": 0.022878131061716805, + "release_phase_fraction": 0.6559215315867345, + "release_tilt_deg": 26.64065558590675, + "release_time_s": 14.2019978079422, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + -0.5807297681848387, + 0.3070528565244098, + 0.8500000000000001 + ], + "yaw_deg": -28.742434038505785 + } +} diff --git a/tube_drop/scene_000130/left.json b/tube_drop/scene_000130/left.json new file mode 100644 index 0000000000000000000000000000000000000000..28a4cc3d8f5659e6e8ae0197de269d54723a5178 --- /dev/null +++ b/tube_drop/scene_000130/left.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ], + "duration_s": 15.392495354706284, + "episode_id": 130, + "error_type": "tube_drop", + "frame_count": 462, + "generation_success": true, + "light_color_rgb": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.3542731673426607, + "direction_azimuth_deg": -77.4342112031487, + "lateral_speed_mps": 0.052405790814390826, + "phase": "lift_from_rack", + "phase_fraction": 0.2910333676501313, + "release_clearance_m": 0.004151987528914395, + "release_tilt_deg": 129.59107646321803, + "stage": "pickup", + "tip_duration_s": 0.3855205082366714, + "trigger_time_s": 1.4964889734705076, + "tube_detach_fraction": 0.46560015517191283, + "tube_engagement_fraction": 0.5640795870856702, + "tube_on_rack": true, + "upward_speed_mps": 0.0690939404332936 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_yaw_deg": 38.822769200236465, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_to_vortex_bearing_deg": 22.77941829449819, + "rack_to_vortex_distance_m": 0.8427399616801947, + "rack_yaw_deg": 38.822769200236465, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752 + }, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "effective_peak_level_fraction": 0.7285542057401879, + "effective_vortex_level_rise_fraction": 0.21405560414910768, + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "present": true, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "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": 141300000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000130", + "schema_version": 15, + "seed": 141300000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "6ba296b5b548e995265d10734ea0f048b60d41cdc2214245d20f45f619ca36b6", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.6585583060851987, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + }, + "trajectory_validation": { + "duration_s": 15.392495354706284, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.73118598013655e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003798024770070568, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "c0829b07e65b118d8f5d7765165662f968802ec4c72b66a5bed9b13a82230673", + "video_validation": { + "actual_frame_count": 462, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 462, + "frame_count_valid": true, + "full_decode_frame_count": 462, + "max_changed_pixel_fraction": 0.012190538194444444, + "mean_luminance": 156.5206756591797, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 77, + 154, + 230, + 307, + 384, + 461 + ], + "spatial_standard_deviation": 31.93964385986328, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752, + "wrong_orientation": { + "azimuth_deg": -142.96786305248295, + "mode": "tilted", + "tilt_deg_from_z": 53.381512987023015 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5982655734464795, + 0.31667031636710263, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -57.461899999695675, + "release_lateral_offset_m": 0.022878131061716805, + "release_phase_fraction": 0.6559215315867345, + "release_tilt_deg": 26.64065558590675, + "release_time_s": 14.2019978079422, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + -0.5807297681848387, + 0.3070528565244098, + 0.8500000000000001 + ], + "yaw_deg": -28.742434038505785 + } +} diff --git a/tube_drop/scene_000130/metadata.json b/tube_drop/scene_000130/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7805a63330ac565801d7893cfca7b6b0034f862d --- /dev/null +++ b/tube_drop/scene_000130/metadata.json @@ -0,0 +1,1164 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ], + "duration_s": 15.392495354706284, + "episode_id": 130, + "error_type": "tube_drop", + "frame_count": 462, + "generation_success": true, + "light_color_rgb": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.3542731673426607, + "direction_azimuth_deg": -77.4342112031487, + "lateral_speed_mps": 0.052405790814390826, + "phase": "lift_from_rack", + "phase_fraction": 0.2910333676501313, + "release_clearance_m": 0.004151987528914395, + "release_tilt_deg": 129.59107646321803, + "stage": "pickup", + "tip_duration_s": 0.3855205082366714, + "trigger_time_s": 1.4964889734705076, + "tube_detach_fraction": 0.46560015517191283, + "tube_engagement_fraction": 0.5640795870856702, + "tube_on_rack": true, + "upward_speed_mps": 0.0690939404332936 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_yaw_deg": 38.822769200236465, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_to_vortex_bearing_deg": 22.77941829449819, + "rack_to_vortex_distance_m": 0.8427399616801947, + "rack_yaw_deg": 38.822769200236465, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752 + }, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "effective_peak_level_fraction": 0.7285542057401879, + "effective_vortex_level_rise_fraction": 0.21405560414910768, + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "present": true, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "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": 141300000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + } + }, + "render_and_primary_validation_seconds": 42.033067162847146, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000130", + "schema_version": 15, + "seed": 141300000, + "shared_state_sha256": "6ba296b5b548e995265d10734ea0f048b60d41cdc2214245d20f45f619ca36b6", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.6585583060851987, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + }, + "trajectory_validation": { + "duration_s": 15.392495354706284, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.73118598013655e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003798024770070568, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 462, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 462, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.012190538194444444, + "mean_luminance": 156.5206756591797, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 77, + 154, + 230, + 307, + 384, + 461 + ], + "spatial_standard_deviation": 31.93964385986328, + "valid": true + }, + "views": { + "front": { + "bytes": 19147151, + "metadata": "front.json", + "sha256": "fc37edb4db806416fdb9e48a7338d7926e79fb9c3981da7baf9a252179924c87", + "video": "front.mp4" + }, + "left": { + "bytes": 18682339, + "metadata": "left.json", + "sha256": "c0829b07e65b118d8f5d7765165662f968802ec4c72b66a5bed9b13a82230673", + "video": "left.mp4" + }, + "right": { + "bytes": 17710323, + "metadata": "right.json", + "sha256": "6693b66d989d1ab79b5c076f53708a7b5a9ab32722a1c6dcbb87fd346ce747bf", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752, + "worker_elapsed_seconds": 61.435541895916685, + "wrong_orientation": { + "azimuth_deg": -142.96786305248295, + "mode": "tilted", + "tilt_deg_from_z": 53.381512987023015 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5982655734464795, + 0.31667031636710263, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -57.461899999695675, + "release_lateral_offset_m": 0.022878131061716805, + "release_phase_fraction": 0.6559215315867345, + "release_tilt_deg": 26.64065558590675, + "release_time_s": 14.2019978079422, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + -0.5807297681848387, + 0.3070528565244098, + 0.8500000000000001 + ], + "yaw_deg": -28.742434038505785 + } +} diff --git a/tube_drop/scene_000130/right.json b/tube_drop/scene_000130/right.json new file mode 100644 index 0000000000000000000000000000000000000000..c001b7ff9aaffbeb0413e4552765ee771c639c27 --- /dev/null +++ b/tube_drop/scene_000130/right.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ], + "duration_s": 15.392495354706284, + "episode_id": 130, + "error_type": "tube_drop", + "frame_count": 462, + "generation_success": true, + "light_color_rgb": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.3542731673426607, + "direction_azimuth_deg": -77.4342112031487, + "lateral_speed_mps": 0.052405790814390826, + "phase": "lift_from_rack", + "phase_fraction": 0.2910333676501313, + "release_clearance_m": 0.004151987528914395, + "release_tilt_deg": 129.59107646321803, + "stage": "pickup", + "tip_duration_s": 0.3855205082366714, + "trigger_time_s": 1.4964889734705076, + "tube_detach_fraction": 0.46560015517191283, + "tube_engagement_fraction": 0.5640795870856702, + "tube_on_rack": true, + "upward_speed_mps": 0.0690939404332936 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_yaw_deg": 38.822769200236465, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.034833071939196936, + -0.3225114548016525, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8860918599238373, + "yaw_deg": 159.53575351056583 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.10859340910461657, + 0.3324177581659786, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1303004409353754, + "yaw_deg": -82.60194079100927 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.37833125064864237, + 1.2038207150172506, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9494137646994469, + "yaw_deg": 83.21606244790269 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.22598703551568988, + -0.4086490263161256, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9853607653893217, + "yaw_deg": 115.7609554384278 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.4539060601469235, + -0.1492893049521774, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0837539642481224, + "yaw_deg": 144.2692294555162 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.17056428764177556, + 1.1827801293262534, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9976857700215138, + "yaw_deg": -86.02749718928166 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5690301238787909, + -0.1998368320683771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9912786707156066, + "yaw_deg": -62.29308461324155 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.1808712901942372, + 0.2760890538634651, + 0.8189256107389844 + ], + "roll_deg": 91.68059916651544, + "surface": "main_table", + "uniform_scale": 1.1103754194915754, + "yaw_deg": 79.8711933769286 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.19209244194784603, + -0.3694328481342143, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8592082995356212, + "yaw_deg": 144.87187434357253 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2338740843879351, + 0.5611255703651017, + 0.722659566096659 + ], + "cabinet_color_rgb": [ + 0.6861480245142008, + 0.7274209265503152, + 0.7474720270199459 + ], + "floor_color_rgb": [ + 0.2861424335928133, + 0.3624110769859325, + 0.42847553562346063 + ], + "screen_color_rgb": [ + 0.5062147784819392, + 0.7711117823839946, + 0.9122893916802661 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7735257319313893, + 0.8669627387380137, + 0.88450025488583 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9539555288164051, + 0.92, + 0.92 + ], + "light_intensity": 2571.940585274121, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.24475247798025124, + -0.06345897483587917, + 0.79 + ], + "rack_to_vortex_bearing_deg": 22.77941829449819, + "rack_to_vortex_distance_m": 0.8427399616801947, + "rack_yaw_deg": 38.822769200236465, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_position_m": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752 + }, + "liquid": { + "color_rgb": [ + 0.04128795476005316, + 0.27863692568896953, + 0.3583503016075727 + ], + "effective_peak_level_fraction": 0.7285542057401879, + "effective_vortex_level_rise_fraction": 0.21405560414910768, + "fill_fraction": 0.5144986015910803, + "opacity": 0.8347282194101844, + "present": true, + "vortex_level_rise_fraction": 0.21405560414910768 + }, + "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": 141300000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000130", + "schema_version": 15, + "seed": 141300000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "6ba296b5b548e995265d10734ea0f048b60d41cdc2214245d20f45f619ca36b6", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.6585583060851987, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": -0.006571162939398152, + "depart_pattern": "lean", + "depart_sway_m": -0.006290905513252142, + "handling_noise_amplitude_m": 0.009233324926523245, + "handling_noise_frequency_hz": 2.2100032621795083, + "handling_noise_phase_xyz_rad": [ + 4.587587575185119, + 5.942254478203742, + 4.922465537033115 + ], + "lift_height_m": 0.10018406475648092, + "orientation_noise_deg": 4.198745904850416, + "outbound_curve_bias": 0.0076565938905373, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 14.558552059866738, + 15.392495354706284 + ], + "initial_hold": [ + 0.0, + 0.8638430075181085 + ], + "lift_from_rack": [ + 0.8638430075181085, + 3.037634868776233 + ], + "lower_to_rack": [ + 13.522293518119547, + 14.558552059866738 + ], + "lower_to_vortex": [ + 5.064609066666993, + 5.724887069095269 + ], + "raise_from_vortex": [ + 8.870830529683008, + 10.233632542293517 + ], + "transfer_to_rack": [ + 10.233632542293517, + 13.522293518119547 + ], + "transfer_to_vortex": [ + 3.037634868776233, + 5.064609066666993 + ], + "vortex": [ + 5.724887069095269, + 8.870830529683008 + ] + }, + "pick_line_azimuth_deg": -166.1583947031634, + "pick_line_tilt_deg": 6.177420161032654, + "pick_pattern": "hook", + "pick_sway_m": -0.007647984662163551, + "put_pattern": "spiral", + "put_sway_m": -0.004965732150502855, + "rack_put_height_m": 0.136829794836306, + "return_bend_scale": 1.4846436131365772, + "return_curve_bias": 0.6434900280970457, + "return_pattern": "high_arc", + "return_side": -1.0, + "return_vertical_arc_scale": 0.9858171805602616, + "transfer_bend_m": 0.17871240323951804, + "transfer_side": 1.0, + "transport_tilt_deg": 8.93639502808066, + "vertical_arc_m": 0.112095836076293, + "vortex_apparent_frequency_hz": 11.992447967702176, + "vortex_approach_height_m": 0.11611252227548008, + "vortex_depart_height_m": 0.17521873162218232, + "vortex_frequency_hz": 41.99244796770218, + "vortex_phase_rad": 0.6188844371585094, + "vortex_radius_m": 0.0003856962301308564, + "vortex_tilt_deg": 0.599524170200373 + }, + "trajectory_validation": { + "duration_s": 15.392495354706284, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.73118598013655e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003798024770070568, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.30633021276496264, + "release_time_s": 3.6585583060851987, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.1964664166830652, + "final_angular_speed_deg_s": 23.628318786621094, + "final_linear_speed_mps": 0.0062958900816738605, + "final_position_m": [ + -0.12477850914001465, + 0.18373501300811768, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500036638896, + "final_surface": "table", + "first_impact_linear_speed_mps": 1.8534458875656128, + "first_impact_position_m": [ + -0.17387476563453674, + 0.056908443570137024, + 0.7826420068740845 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.8583333333333334, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7826420068740845, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.30633021276496264, + "release_position_m": [ + -0.17387476532414434, + 0.05690844320103372, + 0.9791084235571497 + ], + "release_time_s": 3.6585583060851987, + "support_clearance_m": 0.0002500036638896086, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.23440454916475437, + 0.03214918574275247, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.23957851357250282, + -0.015654894546563353, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "6693b66d989d1ab79b5c076f53708a7b5a9ab32722a1c6dcbb87fd346ce747bf", + "video_validation": { + "actual_frame_count": 462, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 462, + "frame_count_valid": true, + "full_decode_frame_count": 462, + "max_changed_pixel_fraction": 0.011679253472222222, + "mean_luminance": 148.40911865234375, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 77, + 154, + 230, + 307, + 384, + 461 + ], + "spatial_standard_deviation": 32.40951156616211, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.5077911392564689, + 0.29292974423067036, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + 0.5322557006809215, + 0.262836800966357, + 0.79 + ], + "vortex_yaw_deg": 48.15939339230752, + "wrong_orientation": { + "azimuth_deg": -142.96786305248295, + "mode": "tilted", + "tilt_deg_from_z": 53.381512987023015 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5982655734464795, + 0.31667031636710263, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -57.461899999695675, + "release_lateral_offset_m": 0.022878131061716805, + "release_phase_fraction": 0.6559215315867345, + "release_tilt_deg": 26.64065558590675, + "release_time_s": 14.2019978079422, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + -0.5807297681848387, + 0.3070528565244098, + 0.8500000000000001 + ], + "yaw_deg": -28.742434038505785 + } +} diff --git a/tube_drop/scene_000137/front.json b/tube_drop/scene_000137/front.json new file mode 100644 index 0000000000000000000000000000000000000000..1295d62f775d62313800292e05ce3a5e76b426f9 --- /dev/null +++ b/tube_drop/scene_000137/front.json @@ -0,0 +1,1011 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ], + "duration_s": 16.87224177071219, + "episode_id": 137, + "error_type": "tube_drop", + "frame_count": 506, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.7951204384654327, + "direction_azimuth_deg": 80.71636658431527, + "lateral_speed_mps": 0.029327751898071557, + "phase": "lift_from_rack", + "phase_fraction": 0.2761168197453703, + "release_clearance_m": 0.010858222446403706, + "release_tilt_deg": 125.60921676320586, + "stage": "pickup", + "tip_duration_s": 0.3991570750699604, + "trigger_time_s": 1.4550883581852372, + "tube_detach_fraction": 0.4646400829312288, + "tube_engagement_fraction": 0.6747802415159254, + "tube_on_rack": true, + "upward_speed_mps": 0.0529192222719317 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_yaw_deg": 32.752015074274695, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 6, + "placements": [ + { + "asset_id": "PIP-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_to_vortex_bearing_deg": -156.78553452785127, + "rack_to_vortex_distance_m": 0.7236274248571405, + "rack_yaw_deg": 32.752015074274695, + "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": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position_m": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_position_m": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566 + }, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "effective_peak_level_fraction": 0.6448737159431053, + "effective_vortex_level_rise_fraction": 0.18539682928839213, + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "present": true, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "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": 141370001, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000137", + "schema_version": 15, + "seed": 141370001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "5103e7ea14ae7b754d2cbcf190d24ad1619e2e1091cb45dc18495d016665a3c6", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.865111511499455, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + }, + "trajectory_validation": { + "duration_s": 16.87224177071219, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.23139221524659e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.004363801902063499, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "video": "front.mp4", + "video_sha256": "c0f5825f0d46f465beb7559715e0f28c089f2593f0e76e95db57f6aceedc61c4", + "video_validation": { + "actual_frame_count": 506, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 506, + "frame_count_valid": true, + "full_decode_frame_count": 506, + "max_changed_pixel_fraction": 0.007588975694444444, + "mean_luminance": 147.6706085205078, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 337, + 421, + 505 + ], + "spatial_standard_deviation": 31.135906219482422, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566, + "wrong_orientation": { + "azimuth_deg": 165.62401831897478, + "mode": "tilted", + "tilt_deg_from_z": 32.49130185526653 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 128.5033073472057, + "release_lateral_offset_m": 0.015413519748538594, + "release_phase_fraction": 0.6877510429835785, + "release_tilt_deg": 37.628441013958536, + "release_time_s": 15.63481106191668, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.8500000000000001 + ], + "yaw_deg": -30.788804994028744 + } +} diff --git a/tube_drop/scene_000137/left.json b/tube_drop/scene_000137/left.json new file mode 100644 index 0000000000000000000000000000000000000000..0f2aef384794b102b8466add4a417881d1575d6a --- /dev/null +++ b/tube_drop/scene_000137/left.json @@ -0,0 +1,1011 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ], + "duration_s": 16.87224177071219, + "episode_id": 137, + "error_type": "tube_drop", + "frame_count": 506, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.7951204384654327, + "direction_azimuth_deg": 80.71636658431527, + "lateral_speed_mps": 0.029327751898071557, + "phase": "lift_from_rack", + "phase_fraction": 0.2761168197453703, + "release_clearance_m": 0.010858222446403706, + "release_tilt_deg": 125.60921676320586, + "stage": "pickup", + "tip_duration_s": 0.3991570750699604, + "trigger_time_s": 1.4550883581852372, + "tube_detach_fraction": 0.4646400829312288, + "tube_engagement_fraction": 0.6747802415159254, + "tube_on_rack": true, + "upward_speed_mps": 0.0529192222719317 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_yaw_deg": 32.752015074274695, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 6, + "placements": [ + { + "asset_id": "PIP-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_to_vortex_bearing_deg": -156.78553452785127, + "rack_to_vortex_distance_m": 0.7236274248571405, + "rack_yaw_deg": 32.752015074274695, + "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": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position_m": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_position_m": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566 + }, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "effective_peak_level_fraction": 0.6448737159431053, + "effective_vortex_level_rise_fraction": 0.18539682928839213, + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "present": true, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "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": 141370001, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000137", + "schema_version": 15, + "seed": 141370001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "5103e7ea14ae7b754d2cbcf190d24ad1619e2e1091cb45dc18495d016665a3c6", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.865111511499455, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + }, + "trajectory_validation": { + "duration_s": 16.87224177071219, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.23139221524659e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.004363801902063499, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "video": "left.mp4", + "video_sha256": "1e9829548979909bbbf2fc5f6a91272d854e315d5c71a1f6ed74fbbddb872ddd", + "video_validation": { + "actual_frame_count": 506, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 506, + "frame_count_valid": true, + "full_decode_frame_count": 506, + "max_changed_pixel_fraction": 0.006205295138888889, + "mean_luminance": 150.39236450195312, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 337, + 421, + 505 + ], + "spatial_standard_deviation": 31.51459312438965, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566, + "wrong_orientation": { + "azimuth_deg": 165.62401831897478, + "mode": "tilted", + "tilt_deg_from_z": 32.49130185526653 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 128.5033073472057, + "release_lateral_offset_m": 0.015413519748538594, + "release_phase_fraction": 0.6877510429835785, + "release_tilt_deg": 37.628441013958536, + "release_time_s": 15.63481106191668, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.8500000000000001 + ], + "yaw_deg": -30.788804994028744 + } +} diff --git a/tube_drop/scene_000137/metadata.json b/tube_drop/scene_000137/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..58a48b7c1f9581d9d8b6098c84db04aa42da725d --- /dev/null +++ b/tube_drop/scene_000137/metadata.json @@ -0,0 +1,1086 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ], + "duration_s": 16.87224177071219, + "episode_id": 137, + "error_type": "tube_drop", + "frame_count": 506, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.7951204384654327, + "direction_azimuth_deg": 80.71636658431527, + "lateral_speed_mps": 0.029327751898071557, + "phase": "lift_from_rack", + "phase_fraction": 0.2761168197453703, + "release_clearance_m": 0.010858222446403706, + "release_tilt_deg": 125.60921676320586, + "stage": "pickup", + "tip_duration_s": 0.3991570750699604, + "trigger_time_s": 1.4550883581852372, + "tube_detach_fraction": 0.4646400829312288, + "tube_engagement_fraction": 0.6747802415159254, + "tube_on_rack": true, + "upward_speed_mps": 0.0529192222719317 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_yaw_deg": 32.752015074274695, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 6, + "placements": [ + { + "asset_id": "PIP-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_to_vortex_bearing_deg": -156.78553452785127, + "rack_to_vortex_distance_m": 0.7236274248571405, + "rack_yaw_deg": 32.752015074274695, + "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": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position_m": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_position_m": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566 + }, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "effective_peak_level_fraction": 0.6448737159431053, + "effective_vortex_level_rise_fraction": 0.18539682928839213, + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "present": true, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "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": 141370001, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + } + }, + "render_and_primary_validation_seconds": 107.9717056308873, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000137", + "schema_version": 15, + "seed": 141370001, + "shared_state_sha256": "5103e7ea14ae7b754d2cbcf190d24ad1619e2e1091cb45dc18495d016665a3c6", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.865111511499455, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + }, + "trajectory_validation": { + "duration_s": 16.87224177071219, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.23139221524659e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.004363801902063499, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 506, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 506, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.006205295138888889, + "mean_luminance": 150.39236450195312, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 337, + 421, + 505 + ], + "spatial_standard_deviation": 31.51459312438965, + "valid": true + }, + "views": { + "front": { + "bytes": 24091211, + "metadata": "front.json", + "sha256": "c0f5825f0d46f465beb7559715e0f28c089f2593f0e76e95db57f6aceedc61c4", + "video": "front.mp4" + }, + "left": { + "bytes": 20958483, + "metadata": "left.json", + "sha256": "1e9829548979909bbbf2fc5f6a91272d854e315d5c71a1f6ed74fbbddb872ddd", + "video": "left.mp4" + }, + "right": { + "bytes": 20327740, + "metadata": "right.json", + "sha256": "4886bd95ba4e8b43d5e3841272023d28833dbdcd3406465eb3b4aedadd43c257", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566, + "worker_elapsed_seconds": 128.71344728814438, + "wrong_orientation": { + "azimuth_deg": 165.62401831897478, + "mode": "tilted", + "tilt_deg_from_z": 32.49130185526653 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 128.5033073472057, + "release_lateral_offset_m": 0.015413519748538594, + "release_phase_fraction": 0.6877510429835785, + "release_tilt_deg": 37.628441013958536, + "release_time_s": 15.63481106191668, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.8500000000000001 + ], + "yaw_deg": -30.788804994028744 + } +} diff --git a/tube_drop/scene_000137/right.json b/tube_drop/scene_000137/right.json new file mode 100644 index 0000000000000000000000000000000000000000..2ee1971f049dc46b4a92e9d3a827da4bb6ddea75 --- /dev/null +++ b/tube_drop/scene_000137/right.json @@ -0,0 +1,1011 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "PIP-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ], + "duration_s": 16.87224177071219, + "episode_id": 137, + "error_type": "tube_drop", + "frame_count": 506, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.7951204384654327, + "direction_azimuth_deg": 80.71636658431527, + "lateral_speed_mps": 0.029327751898071557, + "phase": "lift_from_rack", + "phase_fraction": 0.2761168197453703, + "release_clearance_m": 0.010858222446403706, + "release_tilt_deg": 125.60921676320586, + "stage": "pickup", + "tip_duration_s": 0.3991570750699604, + "trigger_time_s": 1.4550883581852372, + "tube_detach_fraction": 0.4646400829312288, + "tube_engagement_fraction": 0.6747802415159254, + "tube_on_rack": true, + "upward_speed_mps": 0.0529192222719317 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_yaw_deg": 32.752015074274695, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 6, + "placements": [ + { + "asset_id": "PIP-005", + "pitch_deg": 0.0, + "position": [ + 0.5836377612609617, + -0.2964643540685626, + 0.7980587725266994 + ], + "roll_deg": 88.06361168452227, + "surface": "main_table", + "uniform_scale": 0.9162148517211419, + "yaw_deg": 96.20451358440965 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.5453377732615358, + -0.05365958595934023, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8985688853527076, + "yaw_deg": -85.39411958356612 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.6132576207911348, + 0.1940079225305364, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0633245439966719, + "yaw_deg": -93.83594464022055 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.3701012282326317, + 0.08681013760883771, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268726867510543, + "yaw_deg": 55.12634155337102 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.49990883327482594, + 1.0792187057506866, + 0.8450216905876292 + ], + "roll_deg": 91.23091259742131, + "surface": "rear_bench", + "uniform_scale": 0.8592716324041006, + "yaw_deg": -115.24707192046375 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.09506024950108904, + -0.23410438134594266, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1221271124340781, + "yaw_deg": 15.17026565025057 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24996844869501272, + 0.5443540370744191, + 0.7211727492559893 + ], + "cabinet_color_rgb": [ + 0.737055639528768, + 0.7205309413268299, + 0.8179235764092565 + ], + "floor_color_rgb": [ + 0.31943612795110177, + 0.34047049118461337, + 0.4044115278335591 + ], + "screen_color_rgb": [ + 0.5410685595797592, + 0.7702024353698805, + 0.9121293790833829 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7467665899252477, + 0.8550600480789257, + 0.88074015887553 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9436780767706896 + ], + "light_intensity": 1625.8494662683815, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.123690214141991, + 0.05467200217356, + 0.79 + ], + "rack_to_vortex_bearing_deg": -156.78553452785127, + "rack_to_vortex_distance_m": 0.7236274248571405, + "rack_yaw_deg": 32.752015074274695, + "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": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position_m": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_position_m": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566 + }, + "liquid": { + "color_rgb": [ + 0.05510889284820603, + 0.2564277366096732, + 0.32901861901667095 + ], + "effective_peak_level_fraction": 0.6448737159431053, + "effective_vortex_level_rise_fraction": 0.18539682928839213, + "fill_fraction": 0.4594768866547132, + "opacity": 0.938613326628527, + "present": true, + "vortex_level_rise_fraction": 0.18539682928839213 + }, + "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": 141370001, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000137", + "schema_version": 15, + "seed": 141370001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "5103e7ea14ae7b754d2cbcf190d24ad1619e2e1091cb45dc18495d016665a3c6", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.865111511499455, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008970419687035627, + "depart_pattern": "spiral", + "depart_sway_m": 0.00505204590128519, + "handling_noise_amplitude_m": 0.007575274125475064, + "handling_noise_frequency_hz": 1.5048019821435181, + "handling_noise_phase_xyz_rad": [ + 0.07837463626267256, + 6.107110014433212, + 2.2975981316479768 + ], + "lift_height_m": 0.16511299506609228, + "orientation_noise_deg": 2.5695425413826274, + "outbound_curve_bias": 0.6005083461708907, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 15.892770611900099, + 16.87224177071219 + ], + "initial_hold": [ + 0.0, + 0.8440263577051506 + ], + "lift_from_rack": [ + 0.8440263577051506, + 3.057082415078245 + ], + "lower_to_rack": [ + 15.066636387311311, + 15.892770611900099 + ], + "lower_to_vortex": [ + 5.116803483870077, + 6.355396536698397 + ], + "raise_from_vortex": [ + 10.879398237282945, + 11.575738268222425 + ], + "transfer_to_rack": [ + 11.575738268222425, + 15.066636387311311 + ], + "transfer_to_vortex": [ + 3.057082415078245, + 5.116803483870077 + ], + "vortex": [ + 6.355396536698397, + 10.879398237282945 + ] + }, + "pick_line_azimuth_deg": -138.60269745116824, + "pick_line_tilt_deg": 7.0719804743819505, + "pick_pattern": "straight", + "pick_sway_m": 0.002981226507042089, + "put_pattern": "spiral", + "put_sway_m": 0.004855229954191305, + "rack_put_height_m": 0.3639835794241242, + "return_bend_scale": 1.692899274867026, + "return_curve_bias": -0.17840833715692295, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.136982860004731, + "transfer_bend_m": 0.12933230879976024, + "transfer_side": 1.0, + "transport_tilt_deg": 13.28811344686573, + "vertical_arc_m": 0.3135676033417321, + "vortex_apparent_frequency_hz": 9.622537395769786, + "vortex_approach_height_m": 0.26908340675006126, + "vortex_depart_height_m": 0.31150612728386334, + "vortex_frequency_hz": 20.377462604230214, + "vortex_phase_rad": 2.543085826469235, + "vortex_radius_m": 0.000605235083124666, + "vortex_tilt_deg": 0.6644499181080227 + }, + "trajectory_validation": { + "duration_s": 16.87224177071219, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.23139221524659e-16, + "max_quaternion_norm_error": 2.220446049250313e-16, + "max_sample_step_m": 0.004363801902063499, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.6558121048443974, + "release_time_s": 13.865111511499455, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5770156104147455, + "final_angular_speed_deg_s": 1.0468506813049316, + "final_linear_speed_mps": 0.0018652352737262845, + "final_position_m": [ + -0.0742645114660263, + 0.09110217541456223, + 0.7902502417564392 + ], + "final_protected_visual_minimum_z_m": 0.790249791192694, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.07476574927568436, + 0.09134256094694138, + 0.7915766835212708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.208333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7902500033378601, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.6558121048443974, + "release_position_m": [ + -0.07476575149804289, + 0.09134255910126439, + 1.3672656137526056 + ], + "release_time_s": 13.865111511499455, + "support_clearance_m": 0.0002497911926939711, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10266471447837118, + 0.04114690092088455, + 0.8394 + ], + "tube_start_position": [ + 0.14471571380561082, + 0.06819710342623544, + 0.8394 + ], + "video": "right.mp4", + "video_sha256": "4886bd95ba4e8b43d5e3841272023d28833dbdcd3406465eb3b4aedadd43c257", + "video_validation": { + "actual_frame_count": 506, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 506, + "frame_count_valid": true, + "full_decode_frame_count": 506, + "max_changed_pixel_fraction": 0.0037925347222222223, + "mean_luminance": 141.56533813476562, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 337, + 421, + 505 + ], + "spatial_standard_deviation": 30.14452362060547, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49164620345107124, + -0.2000913056667196, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5413493323601283, + -0.23056307910788415, + 0.79 + ], + "vortex_yaw_deg": -58.292002025752566, + "wrong_orientation": { + "azimuth_deg": 165.62401831897478, + "mode": "tilted", + "tilt_deg_from_z": 32.49130185526653 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 128.5033073472057, + "release_lateral_offset_m": 0.015413519748538594, + "release_phase_fraction": 0.6877510429835785, + "release_tilt_deg": 37.628441013958536, + "release_time_s": 15.63481106191668, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + -0.5823209733938315, + 0.27693646535888095, + 0.8500000000000001 + ], + "yaw_deg": -30.788804994028744 + } +} diff --git a/tube_drop/scene_000138/front.json b/tube_drop/scene_000138/front.json new file mode 100644 index 0000000000000000000000000000000000000000..e31ee7d1e4aee2c7ededdae93827deec16064fc5 --- /dev/null +++ b/tube_drop/scene_000138/front.json @@ -0,0 +1,1065 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ], + "duration_s": 17.518431296753473, + "episode_id": 138, + "error_type": "tube_drop", + "frame_count": 526, + "generation_success": true, + "light_color_rgb": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4222657393454643, + "direction_azimuth_deg": 30.28891516577079, + "lateral_speed_mps": 0.04622432701447235, + "phase": "lower_to_rack", + "phase_fraction": 0.7958089381531313, + "release_clearance_m": 0.010748821512917266, + "release_tilt_deg": 124.803692404327, + "stage": "insertion", + "tip_duration_s": 0.43397378330044045, + "trigger_time_s": 15.922953998313314, + "tube_detach_fraction": 0.567492952781551, + "tube_engagement_fraction": 0.6920068828250858, + "tube_on_rack": true, + "upward_speed_mps": 0.049385178422321964 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_yaw_deg": -51.08937724730836, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_to_vortex_bearing_deg": -171.6326447094444, + "rack_to_vortex_distance_m": 0.5513507763843096, + "rack_yaw_deg": -51.08937724730836, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + -0.034 + ], + "tube_return_position_m": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857 + }, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "effective_peak_level_fraction": 0.6370836381672041, + "effective_vortex_level_rise_fraction": 0.1909029460134539, + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "present": true, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "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": 141380001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000138", + "schema_version": 15, + "seed": 141380001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "e654be1d4b601f2d0bfdf17bf0ae99f3c0105ca23d884d6dbda3af5e61fa92eb", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.360815141638795, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + }, + "trajectory_validation": { + "duration_s": 17.518431296753473, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1436393934696042e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0037030179679842672, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "3dd58e68f413d1e4086e485cfb928ab8e4b1e5753866e6fa0fc79bb3a536ffcf", + "video_validation": { + "actual_frame_count": 526, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 526, + "frame_count_valid": true, + "full_decode_frame_count": 526, + "max_changed_pixel_fraction": 0.009872395833333334, + "mean_luminance": 142.16024780273438, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 175, + 262, + 350, + 438, + 525 + ], + "spatial_standard_deviation": 29.700782775878906, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857, + "wrong_orientation": { + "azimuth_deg": -128.0817861594108, + "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": [ + 0.2196136092421862, + -0.05113506039271132, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 166.96190763409157, + "release_lateral_offset_m": 0.01697813241302136, + "release_phase_fraction": 0.7095092090007115, + "release_tilt_deg": 25.74389294054792, + "release_time_s": 15.790664764591753, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.19260516737261604, + -0.045518649814944655, + 0.8500000000000001 + ], + "yaw_deg": -55.27844719577642 + } +} diff --git a/tube_drop/scene_000138/left.json b/tube_drop/scene_000138/left.json new file mode 100644 index 0000000000000000000000000000000000000000..64454e72e3077d4bf3d0fc153745a94ebff97ef7 --- /dev/null +++ b/tube_drop/scene_000138/left.json @@ -0,0 +1,1065 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ], + "duration_s": 17.518431296753473, + "episode_id": 138, + "error_type": "tube_drop", + "frame_count": 526, + "generation_success": true, + "light_color_rgb": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4222657393454643, + "direction_azimuth_deg": 30.28891516577079, + "lateral_speed_mps": 0.04622432701447235, + "phase": "lower_to_rack", + "phase_fraction": 0.7958089381531313, + "release_clearance_m": 0.010748821512917266, + "release_tilt_deg": 124.803692404327, + "stage": "insertion", + "tip_duration_s": 0.43397378330044045, + "trigger_time_s": 15.922953998313314, + "tube_detach_fraction": 0.567492952781551, + "tube_engagement_fraction": 0.6920068828250858, + "tube_on_rack": true, + "upward_speed_mps": 0.049385178422321964 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_yaw_deg": -51.08937724730836, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_to_vortex_bearing_deg": -171.6326447094444, + "rack_to_vortex_distance_m": 0.5513507763843096, + "rack_yaw_deg": -51.08937724730836, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + -0.034 + ], + "tube_return_position_m": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857 + }, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "effective_peak_level_fraction": 0.6370836381672041, + "effective_vortex_level_rise_fraction": 0.1909029460134539, + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "present": true, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "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": 141380001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000138", + "schema_version": 15, + "seed": 141380001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "e654be1d4b601f2d0bfdf17bf0ae99f3c0105ca23d884d6dbda3af5e61fa92eb", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.360815141638795, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + }, + "trajectory_validation": { + "duration_s": 17.518431296753473, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1436393934696042e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0037030179679842672, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "4aa39891f26f83f4b396086262dac83a7fa63287e87b06aa193986f8019b1ed2", + "video_validation": { + "actual_frame_count": 526, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 526, + "frame_count_valid": true, + "full_decode_frame_count": 526, + "max_changed_pixel_fraction": 0.00823046875, + "mean_luminance": 139.8488006591797, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 175, + 262, + 350, + 438, + 525 + ], + "spatial_standard_deviation": 32.23811340332031, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857, + "wrong_orientation": { + "azimuth_deg": -128.0817861594108, + "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": [ + 0.2196136092421862, + -0.05113506039271132, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 166.96190763409157, + "release_lateral_offset_m": 0.01697813241302136, + "release_phase_fraction": 0.7095092090007115, + "release_tilt_deg": 25.74389294054792, + "release_time_s": 15.790664764591753, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.19260516737261604, + -0.045518649814944655, + 0.8500000000000001 + ], + "yaw_deg": -55.27844719577642 + } +} diff --git a/tube_drop/scene_000138/metadata.json b/tube_drop/scene_000138/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5e0aa18e4f4be303ac3c6152548011d8f4d04327 --- /dev/null +++ b/tube_drop/scene_000138/metadata.json @@ -0,0 +1,1140 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ], + "duration_s": 17.518431296753473, + "episode_id": 138, + "error_type": "tube_drop", + "frame_count": 526, + "generation_success": true, + "light_color_rgb": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.4222657393454643, + "direction_azimuth_deg": 30.28891516577079, + "lateral_speed_mps": 0.04622432701447235, + "phase": "lower_to_rack", + "phase_fraction": 0.7958089381531313, + "release_clearance_m": 0.010748821512917266, + "release_tilt_deg": 124.803692404327, + "stage": "insertion", + "tip_duration_s": 0.43397378330044045, + "trigger_time_s": 15.922953998313314, + "tube_detach_fraction": 0.567492952781551, + "tube_engagement_fraction": 0.6920068828250858, + "tube_on_rack": true, + "upward_speed_mps": 0.049385178422321964 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_yaw_deg": -51.08937724730836, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_to_vortex_bearing_deg": -171.6326447094444, + "rack_to_vortex_distance_m": 0.5513507763843096, + "rack_yaw_deg": -51.08937724730836, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + -0.034 + ], + "tube_return_position_m": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857 + }, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "effective_peak_level_fraction": 0.6370836381672041, + "effective_vortex_level_rise_fraction": 0.1909029460134539, + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "present": true, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "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": 141380001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + } + }, + "render_and_primary_validation_seconds": 49.03943924396299, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000138", + "schema_version": 15, + "seed": 141380001, + "shared_state_sha256": "e654be1d4b601f2d0bfdf17bf0ae99f3c0105ca23d884d6dbda3af5e61fa92eb", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.360815141638795, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + }, + "trajectory_validation": { + "duration_s": 17.518431296753473, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1436393934696042e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0037030179679842672, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 526, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 526, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.00823046875, + "mean_luminance": 139.8488006591797, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 175, + 262, + 350, + 438, + 525 + ], + "spatial_standard_deviation": 32.23811340332031, + "valid": true + }, + "views": { + "front": { + "bytes": 28558837, + "metadata": "front.json", + "sha256": "3dd58e68f413d1e4086e485cfb928ab8e4b1e5753866e6fa0fc79bb3a536ffcf", + "video": "front.mp4" + }, + "left": { + "bytes": 23499941, + "metadata": "left.json", + "sha256": "4aa39891f26f83f4b396086262dac83a7fa63287e87b06aa193986f8019b1ed2", + "video": "left.mp4" + }, + "right": { + "bytes": 23061254, + "metadata": "right.json", + "sha256": "566ed7912e370dade985ec3ee61e86c27c31293f34e1f58dfb02049629365903", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857, + "worker_elapsed_seconds": 70.06512367003597, + "wrong_orientation": { + "azimuth_deg": -128.0817861594108, + "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": [ + 0.2196136092421862, + -0.05113506039271132, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 166.96190763409157, + "release_lateral_offset_m": 0.01697813241302136, + "release_phase_fraction": 0.7095092090007115, + "release_tilt_deg": 25.74389294054792, + "release_time_s": 15.790664764591753, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.19260516737261604, + -0.045518649814944655, + 0.8500000000000001 + ], + "yaw_deg": -55.27844719577642 + } +} diff --git a/tube_drop/scene_000138/right.json b/tube_drop/scene_000138/right.json new file mode 100644 index 0000000000000000000000000000000000000000..a798057109483499d354b2df6da7ce4596eb266c --- /dev/null +++ b/tube_drop/scene_000138/right.json @@ -0,0 +1,1065 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ], + "duration_s": 17.518431296753473, + "episode_id": 138, + "error_type": "tube_drop", + "frame_count": 526, + "generation_success": true, + "light_color_rgb": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4222657393454643, + "direction_azimuth_deg": 30.28891516577079, + "lateral_speed_mps": 0.04622432701447235, + "phase": "lower_to_rack", + "phase_fraction": 0.7958089381531313, + "release_clearance_m": 0.010748821512917266, + "release_tilt_deg": 124.803692404327, + "stage": "insertion", + "tip_duration_s": 0.43397378330044045, + "trigger_time_s": 15.922953998313314, + "tube_detach_fraction": 0.567492952781551, + "tube_engagement_fraction": 0.6920068828250858, + "tube_on_rack": true, + "upward_speed_mps": 0.049385178422321964 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_yaw_deg": -51.08937724730836, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 8, + "placements": [ + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.3334888045262504, + 1.1635070247717416, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.0656835632070558, + "yaw_deg": 24.343680415009345 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7198223090123971, + -0.43162700650455704, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.068046397895317, + "yaw_deg": -49.37761316788138 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + -0.5565537572804496, + 0.20187947128664618, + 0.8090709621991883 + ], + "roll_deg": -89.68020803106083, + "surface": "main_table", + "uniform_scale": 1.0988735029105503, + "yaw_deg": -162.5368569778189 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.03545363682012903, + -0.2543524994047648, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8759729236849657, + "yaw_deg": 157.67922895189548 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.514235807680739, + -0.34764441967169635, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1438997047309336, + "yaw_deg": -137.5904669318412 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.7115576001391025, + -0.022166770515967604, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.144650175221308, + "yaw_deg": -118.29221086465411 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + -0.22153733161409195, + 1.1529665623006076, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9931006738314045, + "yaw_deg": 20.55925502465098 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.8196377651006629, + 1.2783012728534466, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9783805257299135, + "yaw_deg": 123.36076573598609 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8911139078478281, + 0.5410822582285109, + 0.1982457340795606 + ], + "cabinet_color_rgb": [ + 0.5586172334175539, + 0.6412349027015085, + 0.5723508649998581 + ], + "floor_color_rgb": [ + 0.275871746761558, + 0.32558020039786806, + 0.30916672797449557 + ], + "screen_color_rgb": [ + 0.3648006954650106, + 0.7258696060874371, + 0.6685406649505304 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.6753346852387205, + 0.755046915426548, + 0.783604686731261 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.971050999320544, + 0.92, + 0.92 + ], + "light_intensity": 1953.4628423149343, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + 0.5820177840483038, + 0.28359194786056824, + 0.79 + ], + "rack_to_vortex_bearing_deg": -171.6326447094444, + "rack_to_vortex_distance_m": 0.5513507763843096, + "rack_yaw_deg": -51.08937724730836, + "return_slot_offset_xy_m": [ + 0.068, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.034, + -0.034 + ], + "tube_return_position_m": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_position_m": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857 + }, + "liquid": { + "color_rgb": [ + 0.3582866204123899, + 0.09778737923653932, + 0.17306684620428217 + ], + "effective_peak_level_fraction": 0.6370836381672041, + "effective_vortex_level_rise_fraction": 0.1909029460134539, + "fill_fraction": 0.4461806921537502, + "opacity": 0.86628789004434, + "present": true, + "vortex_level_rise_fraction": 0.1909029460134539 + }, + "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": 141380001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.034 + ], + "scene_id": "tube_drop/scene_000138", + "schema_version": 15, + "seed": 141380001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "e654be1d4b601f2d0bfdf17bf0ae99f3c0105ca23d884d6dbda3af5e61fa92eb", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.360815141638795, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.008000056036594066, + "depart_pattern": "hook", + "depart_sway_m": 0.01036204169269435, + "handling_noise_amplitude_m": 0.01103032776534453, + "handling_noise_frequency_hz": 2.055271395152405, + "handling_noise_phase_xyz_rad": [ + 6.260657477766436, + 0.7374545982620855, + 1.5454387066990443 + ], + "lift_height_m": 0.06828345787707887, + "orientation_noise_deg": 6.022196141708018, + "outbound_curve_bias": -0.6322573431495989, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 16.23595937353073, + 17.518431296753473 + ], + "initial_hold": [ + 0.0, + 0.7414079799464567 + ], + "lift_from_rack": [ + 0.7414079799464567, + 3.0540805820413697 + ], + "lower_to_rack": [ + 14.703054982974447, + 16.23595937353073 + ], + "lower_to_vortex": [ + 5.542482954155485, + 7.087359023433441 + ], + "raise_from_vortex": [ + 10.72545151890876, + 11.844324850375445 + ], + "transfer_to_rack": [ + 11.844324850375445, + 14.703054982974447 + ], + "transfer_to_vortex": [ + 3.0540805820413697, + 5.542482954155485 + ], + "vortex": [ + 7.087359023433441, + 10.72545151890876 + ] + }, + "pick_line_azimuth_deg": 135.04394454138247, + "pick_line_tilt_deg": 3.4230012697141112, + "pick_pattern": "straight", + "pick_sway_m": 0.005831896567411013, + "put_pattern": "straight", + "put_sway_m": 0.0024172990216574535, + "rack_put_height_m": 0.17516382487028392, + "return_bend_scale": 1.1559393240934455, + "return_curve_bias": -0.1448092098814855, + "return_pattern": "wide_detour", + "return_side": -1.0, + "return_vertical_arc_scale": 0.7674522650566479, + "transfer_bend_m": 0.3279781234776097, + "transfer_side": 1.0, + "transport_tilt_deg": 15.158273065303325, + "vertical_arc_m": 0.33864956587144085, + "vortex_apparent_frequency_hz": 10.770428895660089, + "vortex_approach_height_m": 0.16392282549060128, + "vortex_depart_height_m": 0.2724994711197449, + "vortex_frequency_hz": 19.22957110433991, + "vortex_phase_rad": 3.2606566680950215, + "vortex_radius_m": 0.0002515770460417966, + "vortex_tilt_deg": 0.7082844627262684 + }, + "trajectory_validation": { + "duration_s": 17.518431296753473, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.1436393934696042e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0037030179679842672, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.35003401364565295, + "release_time_s": 8.360815141638795, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.20514153952327163, + "final_angular_speed_deg_s": 33.610904693603516, + "final_linear_speed_mps": 0.008173655718564987, + "final_position_m": [ + -0.2585920989513397, + 0.38872188329696655, + 0.8085988163948059 + ], + "final_protected_visual_minimum_z_m": 0.7902493842968465, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.009063064120709896, + "first_impact_position_m": [ + -0.04498620703816414, + 0.24010510742664337, + 1.0074799060821533 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.366666666666667, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8018624186515808, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.35003401364565295, + "release_position_m": [ + -0.04498520219920014, + 0.24010542433189475, + 1.0070039581748524 + ], + "release_time_s": 8.360815141638795, + "support_clearance_m": 0.000249384296846511, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 163.46596600743828, + "vortex_release_offset_m": 0.03372469692741118, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.6511853909321803, + 0.2520349809917844, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.5769171253038089, + 0.23577999035648556, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "566ed7912e370dade985ec3ee61e86c27c31293f34e1f58dfb02049629365903", + "video_validation": { + "actual_frame_count": 526, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 526, + "frame_count_valid": true, + "full_decode_frame_count": 526, + "max_changed_pixel_fraction": 0.011209201388888888, + "mean_luminance": 133.59454345703125, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 175, + 262, + 350, + 438, + 525 + ], + "spatial_standard_deviation": 33.07902908325195, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.012906328724817846, + 0.23049688143758254, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + 0.036535913760428196, + 0.20335973608236635, + 0.79 + ], + "vortex_yaw_deg": 61.23913202589857, + "wrong_orientation": { + "azimuth_deg": -128.0817861594108, + "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": [ + 0.2196136092421862, + -0.05113506039271132, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 166.96190763409157, + "release_lateral_offset_m": 0.01697813241302136, + "release_phase_fraction": 0.7095092090007115, + "release_tilt_deg": 25.74389294054792, + "release_time_s": 15.790664764591753, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.19260516737261604, + -0.045518649814944655, + 0.8500000000000001 + ], + "yaw_deg": -55.27844719577642 + } +} diff --git a/tube_drop/scene_000156/front.json b/tube_drop/scene_000156/front.json new file mode 100644 index 0000000000000000000000000000000000000000..2af884f3bbc0feb519b12d659e8fb7617b981e9c --- /dev/null +++ b/tube_drop/scene_000156/front.json @@ -0,0 +1,1039 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ], + "duration_s": 16.5928708585827, + "episode_id": 156, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5337492709319496, + "direction_azimuth_deg": 111.78616179126118, + "lateral_speed_mps": 0.07053690103585339, + "phase": "lift_from_rack", + "phase_fraction": 0.38289710157800094, + "release_clearance_m": 0.011920770329487395, + "release_tilt_deg": 128.759863137187, + "stage": "pickup", + "tip_duration_s": 0.29816707898805794, + "trigger_time_s": 1.7237630075579604, + "tube_detach_fraction": 0.54365368935588, + "tube_engagement_fraction": 0.47335840649700156, + "tube_on_rack": true, + "upward_speed_mps": 0.09654775014192858 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_yaw_deg": -30.882802817008418, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_to_vortex_bearing_deg": 18.234635576716258, + "rack_to_vortex_distance_m": 0.702627557425366, + "rack_yaw_deg": -30.882802817008418, + "return_slot_offset_xy_m": [ + 0.068, + 0.0 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626 + }, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "effective_peak_level_fraction": 0.6321704619920108, + "effective_vortex_level_rise_fraction": 0.18387594397396193, + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "present": true, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "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": 141560000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000156", + "schema_version": 15, + "seed": 141560000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "4e53c689cbf6142742707ff40c198a2133ee4f68cc90a9a4055c34e14a0a2dfe", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.855560578458913, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + }, + "trajectory_validation": { + "duration_s": 16.5928708585827, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.9893669801409083e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.011650280501510261, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "0f5ac55383d7046e8411a108d8fb28872235b930a6022e4a0751180fcf6448f7", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "full_decode_frame_count": 498, + "max_changed_pixel_fraction": 0.01258767361111111, + "mean_luminance": 140.04588317871094, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 33.21246337890625, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626, + "wrong_orientation": { + "azimuth_deg": 90.80996049044677, + "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": [ + -0.2797203671705087, + 0.3071789761648628, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 127.55649518712369, + "release_lateral_offset_m": 0.014602451584624102, + "release_phase_fraction": 0.7044195106950123, + "release_tilt_deg": 26.715774724450007, + "release_time_s": 15.49252747522318, + "slot_offset_xy": [ + 0.04, + 0.019 + ], + "tube_target_position": [ + -0.25502994487045494, + 0.3439401383696273, + 0.8500000000000001 + ], + "yaw_deg": 30.70522632307616 + } +} diff --git a/tube_drop/scene_000156/left.json b/tube_drop/scene_000156/left.json new file mode 100644 index 0000000000000000000000000000000000000000..703e3c3e0c42b3805e289cf43c96f8167a4ed63b --- /dev/null +++ b/tube_drop/scene_000156/left.json @@ -0,0 +1,1039 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ], + "duration_s": 16.5928708585827, + "episode_id": 156, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5337492709319496, + "direction_azimuth_deg": 111.78616179126118, + "lateral_speed_mps": 0.07053690103585339, + "phase": "lift_from_rack", + "phase_fraction": 0.38289710157800094, + "release_clearance_m": 0.011920770329487395, + "release_tilt_deg": 128.759863137187, + "stage": "pickup", + "tip_duration_s": 0.29816707898805794, + "trigger_time_s": 1.7237630075579604, + "tube_detach_fraction": 0.54365368935588, + "tube_engagement_fraction": 0.47335840649700156, + "tube_on_rack": true, + "upward_speed_mps": 0.09654775014192858 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_yaw_deg": -30.882802817008418, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_to_vortex_bearing_deg": 18.234635576716258, + "rack_to_vortex_distance_m": 0.702627557425366, + "rack_yaw_deg": -30.882802817008418, + "return_slot_offset_xy_m": [ + 0.068, + 0.0 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626 + }, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "effective_peak_level_fraction": 0.6321704619920108, + "effective_vortex_level_rise_fraction": 0.18387594397396193, + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "present": true, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "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": 141560000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000156", + "schema_version": 15, + "seed": 141560000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "4e53c689cbf6142742707ff40c198a2133ee4f68cc90a9a4055c34e14a0a2dfe", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.855560578458913, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + }, + "trajectory_validation": { + "duration_s": 16.5928708585827, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.9893669801409083e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.011650280501510261, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "c54f5eb9c3d182784dd8d0f0a3e71575a3b1304a2897393ed03f89d0f176f982", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "full_decode_frame_count": 498, + "max_changed_pixel_fraction": 0.00852734375, + "mean_luminance": 138.6265411376953, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 34.39035415649414, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626, + "wrong_orientation": { + "azimuth_deg": 90.80996049044677, + "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": [ + -0.2797203671705087, + 0.3071789761648628, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 127.55649518712369, + "release_lateral_offset_m": 0.014602451584624102, + "release_phase_fraction": 0.7044195106950123, + "release_tilt_deg": 26.715774724450007, + "release_time_s": 15.49252747522318, + "slot_offset_xy": [ + 0.04, + 0.019 + ], + "tube_target_position": [ + -0.25502994487045494, + 0.3439401383696273, + 0.8500000000000001 + ], + "yaw_deg": 30.70522632307616 + } +} diff --git a/tube_drop/scene_000156/metadata.json b/tube_drop/scene_000156/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7b37bbe1df1c71b8a69a0405f9db01c7c70aa17b --- /dev/null +++ b/tube_drop/scene_000156/metadata.json @@ -0,0 +1,1114 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ], + "duration_s": 16.5928708585827, + "episode_id": 156, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 1.5337492709319496, + "direction_azimuth_deg": 111.78616179126118, + "lateral_speed_mps": 0.07053690103585339, + "phase": "lift_from_rack", + "phase_fraction": 0.38289710157800094, + "release_clearance_m": 0.011920770329487395, + "release_tilt_deg": 128.759863137187, + "stage": "pickup", + "tip_duration_s": 0.29816707898805794, + "trigger_time_s": 1.7237630075579604, + "tube_detach_fraction": 0.54365368935588, + "tube_engagement_fraction": 0.47335840649700156, + "tube_on_rack": true, + "upward_speed_mps": 0.09654775014192858 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_yaw_deg": -30.882802817008418, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_to_vortex_bearing_deg": 18.234635576716258, + "rack_to_vortex_distance_m": 0.702627557425366, + "rack_yaw_deg": -30.882802817008418, + "return_slot_offset_xy_m": [ + 0.068, + 0.0 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626 + }, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "effective_peak_level_fraction": 0.6321704619920108, + "effective_vortex_level_rise_fraction": 0.18387594397396193, + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "present": true, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "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": 141560000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + } + }, + "render_and_primary_validation_seconds": 58.566931263078004, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000156", + "schema_version": 15, + "seed": 141560000, + "shared_state_sha256": "4e53c689cbf6142742707ff40c198a2133ee4f68cc90a9a4055c34e14a0a2dfe", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.855560578458913, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + }, + "trajectory_validation": { + "duration_s": 16.5928708585827, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.9893669801409083e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.011650280501510261, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.00852734375, + "mean_luminance": 138.6265411376953, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 34.39035415649414, + "valid": true + }, + "views": { + "front": { + "bytes": 19824926, + "metadata": "front.json", + "sha256": "0f5ac55383d7046e8411a108d8fb28872235b930a6022e4a0751180fcf6448f7", + "video": "front.mp4" + }, + "left": { + "bytes": 22424810, + "metadata": "left.json", + "sha256": "c54f5eb9c3d182784dd8d0f0a3e71575a3b1304a2897393ed03f89d0f176f982", + "video": "left.mp4" + }, + "right": { + "bytes": 21309835, + "metadata": "right.json", + "sha256": "b253b97674278846656acf7f7f19ab1459316a9cd32cb61f002c4d52aa56ebf7", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626, + "worker_elapsed_seconds": 77.99134268215857, + "wrong_orientation": { + "azimuth_deg": 90.80996049044677, + "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": [ + -0.2797203671705087, + 0.3071789761648628, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 127.55649518712369, + "release_lateral_offset_m": 0.014602451584624102, + "release_phase_fraction": 0.7044195106950123, + "release_tilt_deg": 26.715774724450007, + "release_time_s": 15.49252747522318, + "slot_offset_xy": [ + 0.04, + 0.019 + ], + "tube_target_position": [ + -0.25502994487045494, + 0.3439401383696273, + 0.8500000000000001 + ], + "yaw_deg": 30.70522632307616 + } +} diff --git a/tube_drop/scene_000156/right.json b/tube_drop/scene_000156/right.json new file mode 100644 index 0000000000000000000000000000000000000000..58891960d719fbf5152bfdf3825108d3b53ea410 --- /dev/null +++ b/tube_drop/scene_000156/right.json @@ -0,0 +1,1039 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ], + "duration_s": 16.5928708585827, + "episode_id": 156, + "error_type": "tube_drop", + "frame_count": 498, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5337492709319496, + "direction_azimuth_deg": 111.78616179126118, + "lateral_speed_mps": 0.07053690103585339, + "phase": "lift_from_rack", + "phase_fraction": 0.38289710157800094, + "release_clearance_m": 0.011920770329487395, + "release_tilt_deg": 128.759863137187, + "stage": "pickup", + "tip_duration_s": 0.29816707898805794, + "trigger_time_s": 1.7237630075579604, + "tube_detach_fraction": 0.54365368935588, + "tube_engagement_fraction": 0.47335840649700156, + "tube_on_rack": true, + "upward_speed_mps": 0.09654775014192858 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_yaw_deg": -30.882802817008418, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.6044507580556603, + 1.1194025823410272, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.115309265778051, + "yaw_deg": 77.87771046387559 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.668436230351664, + -0.298824420835004, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0475102781063088, + "yaw_deg": 68.02633246075993 + }, + { + "asset_id": "PIP-018", + "pitch_deg": -91.04295770604698, + "position": [ + -0.6166151904211563, + 0.10048329778574483, + 0.8287919341664315 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9633190985265772, + "yaw_deg": 154.31107636205854 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.11351804325097492, + -0.09790611470655758, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8683049931093597, + "yaw_deg": 3.5018430996771883 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 89.38967601737454, + "position": [ + -0.3127796158201205, + 1.044339489243127, + 0.83941239065128 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9687381142695758, + "yaw_deg": -74.18142317960505 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 86.88878131156642, + "position": [ + -0.42582569753609667, + -0.3045496474787598, + 0.8134573151125796 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9981441353295468, + "yaw_deg": 41.66505474635838 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.6123701425758369, + -0.17430694308083083, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9531771290292054, + "yaw_deg": 27.934255769403364 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8958558412711092, + 0.5552545483039573, + 0.21654203516694398 + ], + "cabinet_color_rgb": [ + 0.5101366514521909, + 0.5724680091465295, + 0.6174431079241945 + ], + "floor_color_rgb": [ + 0.2075873363030864, + 0.30985387946334975, + 0.25047873722742464 + ], + "screen_color_rgb": [ + 0.3570615980876206, + 0.7111388001812459, + 0.6829008986517142 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7043728681195457, + 0.7468330288180298, + 0.7702090016132725 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9953984280662799 + ], + "light_intensity": 2023.8013834138492, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.28968933885847814, + -0.058818683905678515, + 0.79 + ], + "rack_to_vortex_bearing_deg": 18.234635576716258, + "rack_to_vortex_distance_m": 0.702627557425366, + "rack_yaw_deg": -30.882802817008418, + "return_slot_offset_xy_m": [ + 0.068, + 0.0 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + 0.034 + ], + "tube_return_position_m": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626 + }, + "liquid": { + "color_rgb": [ + 0.34139189923639796, + 0.08630423410653368, + 0.15120054215293557 + ], + "effective_peak_level_fraction": 0.6321704619920108, + "effective_vortex_level_rise_fraction": 0.18387594397396193, + "fill_fraction": 0.44829451801804887, + "opacity": 0.9366927762456092, + "present": true, + "vortex_level_rise_fraction": 0.18387594397396193 + }, + "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": 141560000, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000156", + "schema_version": 15, + "seed": 141560000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "4e53c689cbf6142742707ff40c198a2133ee4f68cc90a9a4055c34e14a0a2dfe", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + 0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.855560578458913, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.008241992893662637, + "depart_pattern": "straight", + "depart_sway_m": 0.009009919746574096, + "handling_noise_amplitude_m": 0.007319737104078662, + "handling_noise_frequency_hz": 1.0803217883852732, + "handling_noise_phase_xyz_rad": [ + 1.0705424690636574, + 2.8412189995175234, + 2.8899332839726766 + ], + "lift_height_m": 0.06356321367147849, + "orientation_noise_deg": 3.424791003778335, + "outbound_curve_bias": -0.14612537674168546, + "outbound_pattern": "hook", + "phase_boundaries_s": { + "final_hold": [ + 15.77606516836779, + 16.5928708585827 + ], + "initial_hold": [ + 0.0, + 1.0019097601193878 + ], + "lift_from_rack": [ + 1.0019097601193878, + 2.8871505845175376 + ], + "lower_to_rack": [ + 14.816808034003797, + 15.77606516836779 + ], + "lower_to_vortex": [ + 5.060991832432288, + 6.117218182030575 + ], + "raise_from_vortex": [ + 10.896950735657366, + 12.351081795078812 + ], + "transfer_to_rack": [ + 12.351081795078812, + 14.816808034003797 + ], + "transfer_to_vortex": [ + 2.8871505845175376, + 5.060991832432288 + ], + "vortex": [ + 6.117218182030575, + 10.896950735657366 + ] + }, + "pick_line_azimuth_deg": 16.899513200511194, + "pick_line_tilt_deg": 8.73231144513465, + "pick_pattern": "s_sway", + "pick_sway_m": 0.006011611778953297, + "put_pattern": "hook", + "put_sway_m": 0.007995097292201398, + "rack_put_height_m": 0.3388431374132088, + "return_bend_scale": 1.4966813514453061, + "return_curve_bias": 0.6308978566672254, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 1.0244042769120867, + "transfer_bend_m": 0.228898075543355, + "transfer_side": -1.0, + "transport_tilt_deg": 7.936678448897434, + "vertical_arc_m": 0.19294937093425688, + "vortex_apparent_frequency_hz": 7.937395163229233, + "vortex_approach_height_m": 0.24812330361145363, + "vortex_depart_height_m": 0.22200445495267518, + "vortex_frequency_hz": 22.062604836770767, + "vortex_phase_rad": 0.6087708138391944, + "vortex_radius_m": 0.0006096219164669483, + "vortex_tilt_deg": 0.45914634017270606 + }, + "trajectory_validation": { + "duration_s": 16.5928708585827, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.9893669801409083e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.011650280501510261, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.5729070331247976, + "release_time_s": 8.855560578458913, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.17065445863059203, + "final_angular_speed_deg_s": 9.579338073730469, + "final_linear_speed_mps": 0.003084230702370405, + "final_position_m": [ + 0.14741598069667816, + 0.11496392637491226, + 0.8083626627922058 + ], + "final_protected_visual_minimum_z_m": 0.7902497315684001, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.004129892215132713, + "first_impact_position_m": [ + 0.347674161195755, + 0.20950719714164734, + 0.9794958829879761 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.858333333333333, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808361828327179, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.5729070331247976, + "release_position_m": [ + 0.3476744723724303, + 0.20950698853067817, + 0.979016286957771 + ], + "release_time_s": 8.855560578458913, + "support_clearance_m": 0.00024973156840002453, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 130.42909058799944, + "vortex_release_offset_m": 0.02900857074194347, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.23133044650654022, + -0.09372197434447417, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.30141713981504925, + -0.012187592510311734, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "b253b97674278846656acf7f7f19ab1459316a9cd32cb61f002c4d52aa56ebf7", + "video_validation": { + "actual_frame_count": 498, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 498, + "frame_count_valid": true, + "full_decode_frame_count": 498, + "max_changed_pixel_fraction": 0.0076449652777777774, + "mean_luminance": 130.46585083007812, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 83, + 166, + 248, + 331, + 414, + 497 + ], + "spatial_standard_deviation": 36.67437744140625, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.367094649685116, + 0.18747076664339815, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.3776544196926739, + 0.16103988967369695, + 0.79 + ], + "vortex_yaw_deg": 2.706352795141626, + "wrong_orientation": { + "azimuth_deg": 90.80996049044677, + "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": [ + -0.2797203671705087, + 0.3071789761648628, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 127.55649518712369, + "release_lateral_offset_m": 0.014602451584624102, + "release_phase_fraction": 0.7044195106950123, + "release_tilt_deg": 26.715774724450007, + "release_time_s": 15.49252747522318, + "slot_offset_xy": [ + 0.04, + 0.019 + ], + "tube_target_position": [ + -0.25502994487045494, + 0.3439401383696273, + 0.8500000000000001 + ], + "yaw_deg": 30.70522632307616 + } +} diff --git a/tube_drop/scene_000159/front.json b/tube_drop/scene_000159/front.json new file mode 100644 index 0000000000000000000000000000000000000000..7866df8104061eb64a13972ea014ffb4a492535e --- /dev/null +++ b/tube_drop/scene_000159/front.json @@ -0,0 +1,1039 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ], + "duration_s": 17.715785670435892, + "episode_id": 159, + "error_type": "tube_drop", + "frame_count": 531, + "generation_success": true, + "light_color_rgb": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9320162468379345, + "direction_azimuth_deg": -140.83066371460154, + "lateral_speed_mps": 0.025909719231168356, + "phase": "lower_to_rack", + "phase_fraction": 0.6575720621826786, + "release_clearance_m": 0.008652001212796764, + "release_tilt_deg": 118.97117917961276, + "stage": "insertion", + "tip_duration_s": 0.3144349501035684, + "trigger_time_s": 16.53375558958955, + "tube_detach_fraction": 0.5243820801929214, + "tube_engagement_fraction": 0.30397171487981123, + "tube_on_rack": true, + "upward_speed_mps": 0.09944281491709632 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_yaw_deg": -15.17141423232863, + "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": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_to_vortex_bearing_deg": 168.87687168513693, + "rack_to_vortex_distance_m": 0.46405522395953575, + "rack_yaw_deg": -15.17141423232863, + "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": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position_m": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_position_m": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758 + }, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "effective_peak_level_fraction": 0.6235158836006662, + "effective_vortex_level_rise_fraction": 0.2102644591759109, + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "present": true, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "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": 141590004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000159", + "schema_version": 15, + "seed": 141590004, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "62a3d833d8d822f065407f1d0068003f2c8e2d450a6b66b9b80c2a551b57514a", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.038871902478967, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + }, + "trajectory_validation": { + "duration_s": 17.715785670435892, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.841333890402687e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0065442577252853365, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "video": "front.mp4", + "video_sha256": "0ffd58583f626eef07374a7bdc4c2038a299ac6d5dc9f94196ed75be6bf331d8", + "video_validation": { + "actual_frame_count": 531, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 531, + "frame_count_valid": true, + "full_decode_frame_count": 531, + "max_changed_pixel_fraction": 0.006366753472222222, + "mean_luminance": 149.64076232910156, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 177, + 265, + 353, + 442, + 530 + ], + "spatial_standard_deviation": 28.764175415039062, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758, + "wrong_orientation": { + "azimuth_deg": -72.16316007493715, + "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": [ + 0.17341058797773312, + -0.23392465923877365, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -155.0380474394525, + "release_lateral_offset_m": 0.023761872810697207, + "release_phase_fraction": 0.7022788660466083, + "release_tilt_deg": 28.910998437161883, + "release_time_s": 16.56909283574057, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.14951858818145786, + -0.22013436026685929, + 0.8500000000000001 + ], + "yaw_deg": -73.52444775548697 + } +} diff --git a/tube_drop/scene_000159/left.json b/tube_drop/scene_000159/left.json new file mode 100644 index 0000000000000000000000000000000000000000..8148b6bbee08270423dd00d24aa0bf5b19621685 --- /dev/null +++ b/tube_drop/scene_000159/left.json @@ -0,0 +1,1039 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ], + "duration_s": 17.715785670435892, + "episode_id": 159, + "error_type": "tube_drop", + "frame_count": 531, + "generation_success": true, + "light_color_rgb": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9320162468379345, + "direction_azimuth_deg": -140.83066371460154, + "lateral_speed_mps": 0.025909719231168356, + "phase": "lower_to_rack", + "phase_fraction": 0.6575720621826786, + "release_clearance_m": 0.008652001212796764, + "release_tilt_deg": 118.97117917961276, + "stage": "insertion", + "tip_duration_s": 0.3144349501035684, + "trigger_time_s": 16.53375558958955, + "tube_detach_fraction": 0.5243820801929214, + "tube_engagement_fraction": 0.30397171487981123, + "tube_on_rack": true, + "upward_speed_mps": 0.09944281491709632 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_yaw_deg": -15.17141423232863, + "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": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_to_vortex_bearing_deg": 168.87687168513693, + "rack_to_vortex_distance_m": 0.46405522395953575, + "rack_yaw_deg": -15.17141423232863, + "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": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position_m": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_position_m": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758 + }, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "effective_peak_level_fraction": 0.6235158836006662, + "effective_vortex_level_rise_fraction": 0.2102644591759109, + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "present": true, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "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": 141590004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000159", + "schema_version": 15, + "seed": 141590004, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "62a3d833d8d822f065407f1d0068003f2c8e2d450a6b66b9b80c2a551b57514a", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.038871902478967, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + }, + "trajectory_validation": { + "duration_s": 17.715785670435892, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.841333890402687e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0065442577252853365, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "video": "left.mp4", + "video_sha256": "bcdbdf3a8afbb9906a427969e943f2db9d6df60adb9d8cf03014657583592301", + "video_validation": { + "actual_frame_count": 531, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 531, + "frame_count_valid": true, + "full_decode_frame_count": 531, + "max_changed_pixel_fraction": 0.004463107638888889, + "mean_luminance": 149.9204559326172, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 177, + 265, + 353, + 442, + 530 + ], + "spatial_standard_deviation": 29.26409339904785, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758, + "wrong_orientation": { + "azimuth_deg": -72.16316007493715, + "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": [ + 0.17341058797773312, + -0.23392465923877365, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -155.0380474394525, + "release_lateral_offset_m": 0.023761872810697207, + "release_phase_fraction": 0.7022788660466083, + "release_tilt_deg": 28.910998437161883, + "release_time_s": 16.56909283574057, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.14951858818145786, + -0.22013436026685929, + 0.8500000000000001 + ], + "yaw_deg": -73.52444775548697 + } +} diff --git a/tube_drop/scene_000159/metadata.json b/tube_drop/scene_000159/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b30958f67840e0d5aa6161ff379c96a29c517e66 --- /dev/null +++ b/tube_drop/scene_000159/metadata.json @@ -0,0 +1,1114 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ], + "duration_s": 17.715785670435892, + "episode_id": 159, + "error_type": "tube_drop", + "frame_count": 531, + "generation_success": true, + "light_color_rgb": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 1.9320162468379345, + "direction_azimuth_deg": -140.83066371460154, + "lateral_speed_mps": 0.025909719231168356, + "phase": "lower_to_rack", + "phase_fraction": 0.6575720621826786, + "release_clearance_m": 0.008652001212796764, + "release_tilt_deg": 118.97117917961276, + "stage": "insertion", + "tip_duration_s": 0.3144349501035684, + "trigger_time_s": 16.53375558958955, + "tube_detach_fraction": 0.5243820801929214, + "tube_engagement_fraction": 0.30397171487981123, + "tube_on_rack": true, + "upward_speed_mps": 0.09944281491709632 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_yaw_deg": -15.17141423232863, + "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": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_to_vortex_bearing_deg": 168.87687168513693, + "rack_to_vortex_distance_m": 0.46405522395953575, + "rack_yaw_deg": -15.17141423232863, + "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": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position_m": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_position_m": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758 + }, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "effective_peak_level_fraction": 0.6235158836006662, + "effective_vortex_level_rise_fraction": 0.2102644591759109, + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "present": true, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "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": 141590004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + } + }, + "render_and_primary_validation_seconds": 58.50858884700574, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000159", + "schema_version": 15, + "seed": 141590004, + "shared_state_sha256": "62a3d833d8d822f065407f1d0068003f2c8e2d450a6b66b9b80c2a551b57514a", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.038871902478967, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + }, + "trajectory_validation": { + "duration_s": 17.715785670435892, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.841333890402687e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0065442577252853365, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 531, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 531, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.004463107638888889, + "mean_luminance": 149.9204559326172, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 177, + 265, + 353, + 442, + 530 + ], + "spatial_standard_deviation": 29.26409339904785, + "valid": true + }, + "views": { + "front": { + "bytes": 19377258, + "metadata": "front.json", + "sha256": "0ffd58583f626eef07374a7bdc4c2038a299ac6d5dc9f94196ed75be6bf331d8", + "video": "front.mp4" + }, + "left": { + "bytes": 22298921, + "metadata": "left.json", + "sha256": "bcdbdf3a8afbb9906a427969e943f2db9d6df60adb9d8cf03014657583592301", + "video": "left.mp4" + }, + "right": { + "bytes": 22105423, + "metadata": "right.json", + "sha256": "60a5c285f0b2af03d6e5039f05844e654845529e58c57b9a0a95f965695fdec6", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758, + "worker_elapsed_seconds": 81.46189822093584, + "wrong_orientation": { + "azimuth_deg": -72.16316007493715, + "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": [ + 0.17341058797773312, + -0.23392465923877365, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -155.0380474394525, + "release_lateral_offset_m": 0.023761872810697207, + "release_phase_fraction": 0.7022788660466083, + "release_tilt_deg": 28.910998437161883, + "release_time_s": 16.56909283574057, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.14951858818145786, + -0.22013436026685929, + 0.8500000000000001 + ], + "yaw_deg": -73.52444775548697 + } +} diff --git a/tube_drop/scene_000159/right.json b/tube_drop/scene_000159/right.json new file mode 100644 index 0000000000000000000000000000000000000000..3f17ca5a83457b5c27eed29cc21b6f14fc04e5fc --- /dev/null +++ b/tube_drop/scene_000159/right.json @@ -0,0 +1,1039 @@ +{ + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ], + "duration_s": 17.715785670435892, + "episode_id": 159, + "error_type": "tube_drop", + "frame_count": 531, + "generation_success": true, + "light_color_rgb": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.9320162468379345, + "direction_azimuth_deg": -140.83066371460154, + "lateral_speed_mps": 0.025909719231168356, + "phase": "lower_to_rack", + "phase_fraction": 0.6575720621826786, + "release_clearance_m": 0.008652001212796764, + "release_tilt_deg": 118.97117917961276, + "stage": "insertion", + "tip_duration_s": 0.3144349501035684, + "trigger_time_s": 16.53375558958955, + "tube_detach_fraction": 0.5243820801929214, + "tube_engagement_fraction": 0.30397171487981123, + "tube_on_rack": true, + "upward_speed_mps": 0.09944281491709632 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_yaw_deg": -15.17141423232863, + "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": 7, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.5414459330278151, + -0.103057633732203, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8292162520154369, + "yaw_deg": 12.41628747357268 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.29808104320518003, + 1.134222690030688, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9537080773054256, + "yaw_deg": -106.87716877662085 + }, + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + 0.6847705118463683, + 0.35921045225981796, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8608335124538864, + "yaw_deg": -75.14211786430614 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + -0.37372168584094556, + 0.36446779964123455, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1004547873465595, + "yaw_deg": -144.32849785591745 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.043832426270637326, + 1.129973713236185, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9489196972310023, + "yaw_deg": -51.13907390238026 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.4481915034563312, + -0.35111848987389865, + 0.8057344123211848 + ], + "roll_deg": -88.44984278756104, + "surface": "main_table", + "uniform_scale": 0.9014445160464343, + "yaw_deg": -92.32460791357268 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.4469815418457289, + 0.26866395621234235, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9048666856834884, + "yaw_deg": -161.57984532661928 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.2483199925227195, + 0.5016826486245329, + 0.7138392697984833 + ], + "cabinet_color_rgb": [ + 0.697415015226401, + 0.7289991265177455, + 0.7820849769551258 + ], + "floor_color_rgb": [ + 0.32017103379096185, + 0.35157238347617464, + 0.3795678998686266 + ], + "screen_color_rgb": [ + 0.5395724710186967, + 0.7961502953582406, + 0.9222065385151689 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.7643656549873098, + 0.7950531368514983, + 0.8428385073211421 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9301674485330118, + 0.92, + 0.92 + ], + "light_intensity": 1617.825276513591, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + 0.43609307930244645, + -0.015218654748383409, + 0.79 + ], + "rack_to_vortex_bearing_deg": 168.87687168513693, + "rack_to_vortex_distance_m": 0.46405522395953575, + "rack_yaw_deg": -15.17141423232863, + "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": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position_m": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_position_m": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758 + }, + "liquid": { + "color_rgb": [ + 0.03339031559892394, + 0.20307787090307172, + 0.3903797673238977 + ], + "effective_peak_level_fraction": 0.6235158836006662, + "effective_vortex_level_rise_fraction": 0.2102644591759109, + "fill_fraction": 0.4132514244247554, + "opacity": 0.8972946261225603, + "present": true, + "vortex_level_rise_fraction": 0.2102644591759109 + }, + "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": 141590004, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000159", + "schema_version": 15, + "seed": 141590004, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "62a3d833d8d822f065407f1d0068003f2c8e2d450a6b66b9b80c2a551b57514a", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 9.038871902478967, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.011521021263723705, + "depart_pattern": "s_sway", + "depart_sway_m": -0.002799209258932737, + "handling_noise_amplitude_m": 0.01436599480247205, + "handling_noise_frequency_hz": 1.1258576963696774, + "handling_noise_phase_xyz_rad": [ + 5.480464126133112, + 5.20428726359195, + 2.639404400346615 + ], + "lift_height_m": 0.10194302965152084, + "orientation_noise_deg": 1.2948322171292685, + "outbound_curve_bias": -0.615954490006255, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 16.80441820202917, + 17.715785670435892 + ], + "initial_hold": [ + 0.0, + 1.0925938206083545 + ], + "lift_from_rack": [ + 1.0925938206083545, + 3.5870790025865196 + ], + "lower_to_rack": [ + 16.01399609405265, + 16.80441820202917 + ], + "lower_to_vortex": [ + 5.420379754174633, + 6.921473036743645 + ], + "raise_from_vortex": [ + 11.374771628972805, + 12.760547959730872 + ], + "transfer_to_rack": [ + 12.760547959730872, + 16.01399609405265 + ], + "transfer_to_vortex": [ + 3.5870790025865196, + 5.420379754174633 + ], + "vortex": [ + 6.921473036743645, + 11.374771628972805 + ] + }, + "pick_line_azimuth_deg": 150.00631017075472, + "pick_line_tilt_deg": 1.0325306542046722, + "pick_pattern": "straight", + "pick_sway_m": 0.002242812532448383, + "put_pattern": "lean", + "put_sway_m": -0.002417488414322791, + "rack_put_height_m": 0.1681443644948764, + "return_bend_scale": 1.3685911060524398, + "return_curve_bias": -0.6625073479870028, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0363676236832697, + "transfer_bend_m": 0.21313129183056698, + "transfer_side": -1.0, + "transport_tilt_deg": 16.093512224839795, + "vertical_arc_m": 0.27669029208296464, + "vortex_apparent_frequency_hz": 6.048995983309389, + "vortex_approach_height_m": 0.12829995654508958, + "vortex_depart_height_m": 0.3420754075307113, + "vortex_frequency_hz": 36.04899598330939, + "vortex_phase_rad": 2.056208693608904, + "vortex_radius_m": 0.00033062268552084726, + "vortex_tilt_deg": 0.5313389957626637 + }, + "trajectory_validation": { + "duration_s": 17.715785670435892, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 7.841333890402687e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0065442577252853365, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.4754675263477961, + "release_time_s": 9.038871902478967, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.21795614091538273, + "final_angular_speed_deg_s": 26.50570297241211, + "final_linear_speed_mps": 0.010014411062002182, + "final_position_m": [ + 0.11484096944332123, + 0.405505508184433, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.7902497792347096, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.011601313948631287, + "first_impact_position_m": [ + 0.027121486142277718, + 0.15634074807167053, + 1.0269644260406494 + ], + "first_impact_surface": "table", + "first_impact_time_s": 9.041666666666666, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.808598518371582, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.4754675263477961, + "release_position_m": [ + 0.02711153594444762, + 0.15634669280756752, + 1.0265546592869648 + ], + "release_time_s": 9.038871902478967, + "support_clearance_m": 0.0002497792347095906, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 55.07398306609821, + "vortex_release_offset_m": 0.03652898095162551, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-009", + "tube_return_position": [ + 0.36370704045166646, + 0.004409421558105975, + 0.8529 + ], + "tube_start_position": [ + 0.4602217589193731, + -0.021761346850546537, + 0.8529 + ], + "video": "right.mp4", + "video_sha256": "60a5c285f0b2af03d6e5039f05844e654845529e58c57b9a0a95f965695fdec6", + "video_validation": { + "actual_frame_count": 531, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 531, + "frame_count_valid": true, + "full_decode_frame_count": 531, + "max_changed_pixel_fraction": 0.005260416666666667, + "mean_luminance": 141.20480346679688, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 177, + 265, + 353, + 442, + 530 + ], + "spatial_standard_deviation": 29.275724411010742, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.006379792598373461, + 0.12667304983193145, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.01924480677099477, + 0.07430598091300711, + 0.79 + ], + "vortex_yaw_deg": -25.877178349236758, + "wrong_orientation": { + "azimuth_deg": -72.16316007493715, + "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": [ + 0.17341058797773312, + -0.23392465923877365, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -155.0380474394525, + "release_lateral_offset_m": 0.023761872810697207, + "release_phase_fraction": 0.7022788660466083, + "release_tilt_deg": 28.910998437161883, + "release_time_s": 16.56909283574057, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.14951858818145786, + -0.22013436026685929, + 0.8500000000000001 + ], + "yaw_deg": -73.52444775548697 + } +} diff --git a/tube_drop/scene_000169/front.json b/tube_drop/scene_000169/front.json new file mode 100644 index 0000000000000000000000000000000000000000..d6f725879b612a55e6ed66c9925dc0780393fcb7 --- /dev/null +++ b/tube_drop/scene_000169/front.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ], + "duration_s": 18.737365827751443, + "episode_id": 169, + "error_type": "tube_drop", + "frame_count": 562, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4349943847069415, + "direction_azimuth_deg": -39.964943544723695, + "lateral_speed_mps": 0.07449765743424541, + "phase": "lift_from_rack", + "phase_fraction": 0.35029004506266936, + "release_clearance_m": 0.010180578405441995, + "release_tilt_deg": 128.69027738282375, + "stage": "pickup", + "tip_duration_s": 0.4632506925278729, + "trigger_time_s": 1.8690617223642205, + "tube_detach_fraction": 0.5724987455807284, + "tube_engagement_fraction": 0.5005283618612543, + "tube_on_rack": true, + "upward_speed_mps": 0.06785247611188472 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_yaw_deg": -39.37744545192662, + "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": 10, + "placements": [ + { + "asset_id": "PIP-007", + "pitch_deg": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.02610541387696, + "rack_to_vortex_distance_m": 0.7571344791273495, + "rack_yaw_deg": -39.37744545192662, + "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": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position_m": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504 + }, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "effective_peak_level_fraction": 0.700552985844533, + "effective_vortex_level_rise_fraction": 0.21659239785166273, + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "present": true, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "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": 141690000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000169", + "schema_version": 15, + "seed": 141690000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "0d313d19ae8971385c6ffeefde23aeece289559366ddd545215319584719f36c", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.083733091000798, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + }, + "trajectory_validation": { + "duration_s": 18.737365827751443, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.220446049250313e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0044528336660141195, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "video": "front.mp4", + "video_sha256": "37241b3a4041f3c252639fc1f38575be3c8fa8df672a0641170cc3b618c3e1b6", + "video_validation": { + "actual_frame_count": 562, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 562, + "frame_count_valid": true, + "full_decode_frame_count": 562, + "max_changed_pixel_fraction": 0.011106770833333333, + "mean_luminance": 145.97970581054688, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 94, + 187, + 280, + 374, + 468, + 561 + ], + "spatial_standard_deviation": 39.283485412597656, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504, + "wrong_orientation": { + "azimuth_deg": 26.566358677314895, + "mode": "tilted", + "tilt_deg_from_z": 41.770746337769296 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.1200639007611165, + -0.1654124871148406, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -132.83114185754016, + "release_lateral_offset_m": 0.023130740444991048, + "release_phase_fraction": 0.6542250553868479, + "release_tilt_deg": 37.244572062884345, + "release_time_s": 17.397913441219472, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + 0.10814977947053458, + -0.19029327717209768, + 0.8500000000000001 + ], + "yaw_deg": -72.05614635828965 + } +} diff --git a/tube_drop/scene_000169/left.json b/tube_drop/scene_000169/left.json new file mode 100644 index 0000000000000000000000000000000000000000..1005703236d7f7dbd459966a309e32a9d0a63e89 --- /dev/null +++ b/tube_drop/scene_000169/left.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-007", + "pitch_deg": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ], + "duration_s": 18.737365827751443, + "episode_id": 169, + "error_type": "tube_drop", + "frame_count": 562, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4349943847069415, + "direction_azimuth_deg": -39.964943544723695, + "lateral_speed_mps": 0.07449765743424541, + "phase": "lift_from_rack", + "phase_fraction": 0.35029004506266936, + "release_clearance_m": 0.010180578405441995, + "release_tilt_deg": 128.69027738282375, + "stage": "pickup", + "tip_duration_s": 0.4632506925278729, + "trigger_time_s": 1.8690617223642205, + "tube_detach_fraction": 0.5724987455807284, + "tube_engagement_fraction": 0.5005283618612543, + "tube_on_rack": true, + "upward_speed_mps": 0.06785247611188472 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_yaw_deg": -39.37744545192662, + "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": 10, + "placements": [ + { + "asset_id": "PIP-007", + "pitch_deg": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.02610541387696, + "rack_to_vortex_distance_m": 0.7571344791273495, + "rack_yaw_deg": -39.37744545192662, + "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": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position_m": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504 + }, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "effective_peak_level_fraction": 0.700552985844533, + "effective_vortex_level_rise_fraction": 0.21659239785166273, + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "present": true, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "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": 141690000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000169", + "schema_version": 15, + "seed": 141690000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "0d313d19ae8971385c6ffeefde23aeece289559366ddd545215319584719f36c", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.083733091000798, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + }, + "trajectory_validation": { + "duration_s": 18.737365827751443, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.220446049250313e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0044528336660141195, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "video": "left.mp4", + "video_sha256": "0d97032b1580094259867d108734df89546cbeaf118e29f7f37a565caf418231", + "video_validation": { + "actual_frame_count": 562, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 562, + "frame_count_valid": true, + "full_decode_frame_count": 562, + "max_changed_pixel_fraction": 0.012148871527777778, + "mean_luminance": 145.52732849121094, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 94, + 187, + 280, + 374, + 468, + 561 + ], + "spatial_standard_deviation": 39.757225036621094, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504, + "wrong_orientation": { + "azimuth_deg": 26.566358677314895, + "mode": "tilted", + "tilt_deg_from_z": 41.770746337769296 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.1200639007611165, + -0.1654124871148406, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -132.83114185754016, + "release_lateral_offset_m": 0.023130740444991048, + "release_phase_fraction": 0.6542250553868479, + "release_tilt_deg": 37.244572062884345, + "release_time_s": 17.397913441219472, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + 0.10814977947053458, + -0.19029327717209768, + 0.8500000000000001 + ], + "yaw_deg": -72.05614635828965 + } +} diff --git a/tube_drop/scene_000169/metadata.json b/tube_drop/scene_000169/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c59de4b19722d3ee464d7b53dcf9928151f8c87f --- /dev/null +++ b/tube_drop/scene_000169/metadata.json @@ -0,0 +1,1190 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-007", + "pitch_deg": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ], + "duration_s": 18.737365827751443, + "episode_id": 169, + "error_type": "tube_drop", + "frame_count": 562, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.4349943847069415, + "direction_azimuth_deg": -39.964943544723695, + "lateral_speed_mps": 0.07449765743424541, + "phase": "lift_from_rack", + "phase_fraction": 0.35029004506266936, + "release_clearance_m": 0.010180578405441995, + "release_tilt_deg": 128.69027738282375, + "stage": "pickup", + "tip_duration_s": 0.4632506925278729, + "trigger_time_s": 1.8690617223642205, + "tube_detach_fraction": 0.5724987455807284, + "tube_engagement_fraction": 0.5005283618612543, + "tube_on_rack": true, + "upward_speed_mps": 0.06785247611188472 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_yaw_deg": -39.37744545192662, + "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": 10, + "placements": [ + { + "asset_id": "PIP-007", + "pitch_deg": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.02610541387696, + "rack_to_vortex_distance_m": 0.7571344791273495, + "rack_yaw_deg": -39.37744545192662, + "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": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position_m": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504 + }, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "effective_peak_level_fraction": 0.700552985844533, + "effective_vortex_level_rise_fraction": 0.21659239785166273, + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "present": true, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "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": 141690000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + } + }, + "render_and_primary_validation_seconds": 55.1270953360945, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000169", + "schema_version": 15, + "seed": 141690000, + "shared_state_sha256": "0d313d19ae8971385c6ffeefde23aeece289559366ddd545215319584719f36c", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.083733091000798, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + }, + "trajectory_validation": { + "duration_s": 18.737365827751443, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.220446049250313e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0044528336660141195, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 562, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 562, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.012148871527777778, + "mean_luminance": 145.52732849121094, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 94, + 187, + 280, + 374, + 468, + 561 + ], + "spatial_standard_deviation": 39.757225036621094, + "valid": true + }, + "views": { + "front": { + "bytes": 24050213, + "metadata": "front.json", + "sha256": "37241b3a4041f3c252639fc1f38575be3c8fa8df672a0641170cc3b618c3e1b6", + "video": "front.mp4" + }, + "left": { + "bytes": 21664239, + "metadata": "left.json", + "sha256": "0d97032b1580094259867d108734df89546cbeaf118e29f7f37a565caf418231", + "video": "left.mp4" + }, + "right": { + "bytes": 22846644, + "metadata": "right.json", + "sha256": "84fa21d87aa488d1edc1f367214ff541c33a0c6292d9025ac0f750f98120040b", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504, + "worker_elapsed_seconds": 77.92666307999752, + "wrong_orientation": { + "azimuth_deg": 26.566358677314895, + "mode": "tilted", + "tilt_deg_from_z": 41.770746337769296 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.1200639007611165, + -0.1654124871148406, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -132.83114185754016, + "release_lateral_offset_m": 0.023130740444991048, + "release_phase_fraction": 0.6542250553868479, + "release_tilt_deg": 37.244572062884345, + "release_time_s": 17.397913441219472, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + 0.10814977947053458, + -0.19029327717209768, + 0.8500000000000001 + ], + "yaw_deg": -72.05614635828965 + } +} diff --git a/tube_drop/scene_000169/right.json b/tube_drop/scene_000169/right.json new file mode 100644 index 0000000000000000000000000000000000000000..50acf872b0970959353e2499b8ddd428ffa1c43c --- /dev/null +++ b/tube_drop/scene_000169/right.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "PIP-007", + "pitch_deg": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ], + "duration_s": 18.737365827751443, + "episode_id": 169, + "error_type": "tube_drop", + "frame_count": 562, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4349943847069415, + "direction_azimuth_deg": -39.964943544723695, + "lateral_speed_mps": 0.07449765743424541, + "phase": "lift_from_rack", + "phase_fraction": 0.35029004506266936, + "release_clearance_m": 0.010180578405441995, + "release_tilt_deg": 128.69027738282375, + "stage": "pickup", + "tip_duration_s": 0.4632506925278729, + "trigger_time_s": 1.8690617223642205, + "tube_detach_fraction": 0.5724987455807284, + "tube_engagement_fraction": 0.5005283618612543, + "tube_on_rack": true, + "upward_speed_mps": 0.06785247611188472 + }, + "rack_id": "TR-004", + "rack_position": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_yaw_deg": -39.37744545192662, + "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": 10, + "placements": [ + { + "asset_id": "PIP-007", + "pitch_deg": -88.14407025312255, + "position": [ + 0.12759923646985782, + 0.129163396501842, + 0.814393875928262 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1011002731917958, + "yaw_deg": 9.572558411719456 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + -0.5669945373441115, + -0.15091857748477944, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9906117639629269, + "yaw_deg": 158.19609700019873 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.19934613475271534, + 1.2659190702649419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9856368345452516, + "yaw_deg": -72.53168275067634 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.7125200716727136, + 1.0510716720750681, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.098759665397629, + "yaw_deg": -62.90730062216909 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + -0.15210245682844553, + -0.2856214158616842, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0878014983652127, + "yaw_deg": 24.84361246766869 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 86.94273541826948, + "position": [ + 0.44927895982791566, + 1.1441934550235455, + 0.8716943990463021 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.03633708292584, + "yaw_deg": -157.42492260287267 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.619669018681534, + 1.0817509796981295, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1527833662212523, + "yaw_deg": -159.59245566348557 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.9162654619314017, + 1.1735241756161894, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732505430943146, + "yaw_deg": 9.01991610070894 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.43083825256533315, + -0.22422274457732438, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0451979290396534, + "yaw_deg": 120.97920963461775 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.6577386645814813, + 0.2371750133444187, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1128977866414766, + "yaw_deg": 147.18268670235574 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8558855615222538, + 0.6831850852178334, + 0.18574335758972205 + ], + "cabinet_color_rgb": [ + 0.5854384509993712, + 0.6433190612244247, + 0.6552682980179861 + ], + "floor_color_rgb": [ + 0.22696988030164442, + 0.2973660580706297, + 0.3823767027639354 + ], + "screen_color_rgb": [ + 0.3100131707285083, + 0.7208407777465559, + 0.8429659054815318 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7382582547781127, + 0.8261720578472738, + 0.7646461128358856 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9754047633100427 + ], + "light_intensity": 2012.0077325894408, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + 0.38854696445921544, + 0.11818340615080292, + 0.79 + ], + "rack_to_vortex_bearing_deg": 171.02610541387696, + "rack_to_vortex_distance_m": 0.7571344791273495, + "rack_yaw_deg": -39.37744545192662, + "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": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position_m": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504 + }, + "liquid": { + "color_rgb": [ + 0.3931724748497069, + 0.1907098623854163, + 0.04205320230443784 + ], + "effective_peak_level_fraction": 0.700552985844533, + "effective_vortex_level_rise_fraction": 0.21659239785166273, + "fill_fraction": 0.4839605879928703, + "opacity": 0.8245211145651857, + "present": true, + "vortex_level_rise_fraction": 0.21659239785166273 + }, + "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": 141690000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000169", + "schema_version": 15, + "seed": 141690000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "0d313d19ae8971385c6ffeefde23aeece289559366ddd545215319584719f36c", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.083733091000798, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": -0.003969488095835854, + "depart_pattern": "straight", + "depart_sway_m": -0.006393113891868631, + "handling_noise_amplitude_m": 0.004597929457117251, + "handling_noise_frequency_hz": 1.91228997923313, + "handling_noise_phase_xyz_rad": [ + 6.262896835312724, + 1.067086806572648, + 0.9704845350149204 + ], + "lift_height_m": 0.14308781251000824, + "orientation_noise_deg": 5.311956846196113, + "outbound_curve_bias": -0.3479306871063105, + "outbound_pattern": "double_s", + "phase_boundaries_s": { + "final_hold": [ + 17.89843504305928, + 18.737365827751443 + ], + "initial_hold": [ + 0.0, + 1.138728462137182 + ], + "lift_from_rack": [ + 1.138728462137182, + 3.2236671308806137 + ], + "lower_to_rack": [ + 16.450899269755105, + 17.89843504305928 + ], + "lower_to_vortex": [ + 6.660995650324366, + 8.145276621922925 + ], + "raise_from_vortex": [ + 12.38456864231481, + 13.57175207044734 + ], + "transfer_to_rack": [ + 13.57175207044734, + 16.450899269755105 + ], + "transfer_to_vortex": [ + 3.2236671308806137, + 6.660995650324366 + ], + "vortex": [ + 8.145276621922925, + 12.38456864231481 + ] + }, + "pick_line_azimuth_deg": 159.48136733321041, + "pick_line_tilt_deg": 11.725862829298581, + "pick_pattern": "spiral", + "pick_sway_m": 0.005285076689894025, + "put_pattern": "spiral", + "put_sway_m": 0.005499852099981196, + "rack_put_height_m": 0.19936523077936272, + "return_bend_scale": 1.449069380183179, + "return_curve_bias": -0.46010263150450514, + "return_pattern": "zigzag", + "return_side": -1.0, + "return_vertical_arc_scale": 1.2455939582026796, + "transfer_bend_m": 0.10438170566931397, + "transfer_side": -1.0, + "transport_tilt_deg": 3.3038487226887305, + "vertical_arc_m": 0.14546122445117252, + "vortex_apparent_frequency_hz": 3.9191689302707537, + "vortex_approach_height_m": 0.23252005687403404, + "vortex_depart_height_m": 0.24773220572647592, + "vortex_frequency_hz": 26.080831069729246, + "vortex_phase_rad": 1.1745537193599935, + "vortex_radius_m": 0.0006744541645120534, + "vortex_tilt_deg": 0.7932198184078806 + }, + "trajectory_validation": { + "duration_s": 18.737365827751443, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.220446049250313e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0044528336660141195, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.2502134885435287, + "release_time_s": 4.083733091000798, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.24643559124652747, + "final_angular_speed_deg_s": 0.7572701573371887, + "final_linear_speed_mps": 0.0019432333065196872, + "final_position_m": [ + 0.3771294057369232, + 0.20846417546272278, + 0.7902501225471497 + ], + "final_protected_visual_minimum_z_m": 0.790249616248479, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.0710861682891846, + "first_impact_position_m": [ + 0.3772522211074829, + 0.20838861167430878, + 0.7833986878395081 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.308333333333334, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7833986878395081, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.2502134885435287, + "release_position_m": [ + 0.3772522182347562, + 0.20838860751978946, + 1.0298342790860355 + ], + "release_time_s": 4.083733091000798, + "support_clearance_m": 0.0002496162484789677, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "tube_start_position": [ + 0.407871548859209, + 0.10232274923604918, + 0.8394 + ], + "video": "right.mp4", + "video_sha256": "84fa21d87aa488d1edc1f367214ff541c33a0c6292d9025ac0f750f98120040b", + "video_validation": { + "actual_frame_count": 562, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 562, + "frame_count_valid": true, + "full_decode_frame_count": 562, + "max_changed_pixel_fraction": 0.011037326388888888, + "mean_luminance": 137.09930419921875, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 94, + 187, + 280, + 374, + 468, + 561 + ], + "spatial_standard_deviation": 37.8648567199707, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.32923704167628853, + 0.2607616576871621, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.3593198203680332, + 0.23628459850548117, + 0.79 + ], + "vortex_yaw_deg": -41.816807350816504, + "wrong_orientation": { + "azimuth_deg": 26.566358677314895, + "mode": "tilted", + "tilt_deg_from_z": 41.770746337769296 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.1200639007611165, + -0.1654124871148406, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -132.83114185754016, + "release_lateral_offset_m": 0.023130740444991048, + "release_phase_fraction": 0.6542250553868479, + "release_tilt_deg": 37.244572062884345, + "release_time_s": 17.397913441219472, + "slot_offset_xy": [ + 0.02, + -0.019 + ], + "tube_target_position": [ + 0.10814977947053458, + -0.19029327717209768, + 0.8500000000000001 + ], + "yaw_deg": -72.05614635828965 + } +} diff --git a/tube_drop/scene_000176/front.json b/tube_drop/scene_000176/front.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf0bab32fc0d04ecde5e4ff143e933315075a9a --- /dev/null +++ b/tube_drop/scene_000176/front.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ], + "duration_s": 15.188171059669395, + "episode_id": 176, + "error_type": "tube_drop", + "frame_count": 456, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.0459323847261297, + "direction_azimuth_deg": 102.64381209025782, + "lateral_speed_mps": 0.04625869920912672, + "phase": "lower_to_rack", + "phase_fraction": 0.8026333299219228, + "release_clearance_m": 0.004787244617776533, + "release_tilt_deg": 128.02327770844772, + "stage": "insertion", + "tip_duration_s": 0.3233240198360448, + "trigger_time_s": 14.160028279691044, + "tube_detach_fraction": 0.49793274547098026, + "tube_engagement_fraction": 0.38713074938878045, + "tube_on_rack": true, + "upward_speed_mps": 0.03718423442542322 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_yaw_deg": -21.585147807640787, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_to_vortex_bearing_deg": 169.53505575564927, + "rack_to_vortex_distance_m": 0.7126201570560274, + "rack_yaw_deg": -21.585147807640787, + "return_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_position_m": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683 + }, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "effective_peak_level_fraction": 0.6940534604564078, + "effective_vortex_level_rise_fraction": 0.19774551910015423, + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "present": true, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "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": 141760000, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000176", + "schema_version": 15, + "seed": 141760000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "da56854b1b52b51034235bf0a07344c7b3fa095648222afc16541d6b9e59e25e", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.508286917557314, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + }, + "trajectory_validation": { + "duration_s": 15.188171059669395, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.0471501066083613e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00451196789366215, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "14ef179fede8ea601aab8bad075f3c9bcd826d8e79e23be891162afba8dd57af", + "video_validation": { + "actual_frame_count": 456, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 456, + "frame_count_valid": true, + "full_decode_frame_count": 456, + "max_changed_pixel_fraction": 0.009145399305555555, + "mean_luminance": 133.63487243652344, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 76, + 152, + 228, + 303, + 379, + 455 + ], + "spatial_standard_deviation": 32.676231384277344, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683, + "wrong_orientation": { + "azimuth_deg": 59.57018107431867, + "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": [ + -0.17620538096392024, + -0.013431644201426285, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 85.47479083157657, + "release_lateral_offset_m": 0.018396583289873224, + "release_phase_fraction": 0.759217724092473, + "release_tilt_deg": 27.657603720275247, + "release_time_s": 14.097540480447766, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + -0.21591889627969132, + -0.018210420327592416, + 0.8500000000000001 + ], + "yaw_deg": 6.861481327442405 + } +} diff --git a/tube_drop/scene_000176/left.json b/tube_drop/scene_000176/left.json new file mode 100644 index 0000000000000000000000000000000000000000..f44de1485f11ce7f6551320e5ee8f8eb0e9bc8b5 --- /dev/null +++ b/tube_drop/scene_000176/left.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ], + "duration_s": 15.188171059669395, + "episode_id": 176, + "error_type": "tube_drop", + "frame_count": 456, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.0459323847261297, + "direction_azimuth_deg": 102.64381209025782, + "lateral_speed_mps": 0.04625869920912672, + "phase": "lower_to_rack", + "phase_fraction": 0.8026333299219228, + "release_clearance_m": 0.004787244617776533, + "release_tilt_deg": 128.02327770844772, + "stage": "insertion", + "tip_duration_s": 0.3233240198360448, + "trigger_time_s": 14.160028279691044, + "tube_detach_fraction": 0.49793274547098026, + "tube_engagement_fraction": 0.38713074938878045, + "tube_on_rack": true, + "upward_speed_mps": 0.03718423442542322 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_yaw_deg": -21.585147807640787, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_to_vortex_bearing_deg": 169.53505575564927, + "rack_to_vortex_distance_m": 0.7126201570560274, + "rack_yaw_deg": -21.585147807640787, + "return_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_position_m": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683 + }, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "effective_peak_level_fraction": 0.6940534604564078, + "effective_vortex_level_rise_fraction": 0.19774551910015423, + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "present": true, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "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": 141760000, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000176", + "schema_version": 15, + "seed": 141760000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "da56854b1b52b51034235bf0a07344c7b3fa095648222afc16541d6b9e59e25e", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.508286917557314, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + }, + "trajectory_validation": { + "duration_s": 15.188171059669395, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.0471501066083613e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00451196789366215, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "ded31256b8802be189f55d48686bf4a072dc7244e57d6278b88e70662d64e4b0", + "video_validation": { + "actual_frame_count": 456, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 456, + "frame_count_valid": true, + "full_decode_frame_count": 456, + "max_changed_pixel_fraction": 0.008379340277777777, + "mean_luminance": 134.3701629638672, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 76, + 152, + 228, + 303, + 379, + 455 + ], + "spatial_standard_deviation": 35.93745803833008, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683, + "wrong_orientation": { + "azimuth_deg": 59.57018107431867, + "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": [ + -0.17620538096392024, + -0.013431644201426285, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 85.47479083157657, + "release_lateral_offset_m": 0.018396583289873224, + "release_phase_fraction": 0.759217724092473, + "release_tilt_deg": 27.657603720275247, + "release_time_s": 14.097540480447766, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + -0.21591889627969132, + -0.018210420327592416, + 0.8500000000000001 + ], + "yaw_deg": 6.861481327442405 + } +} diff --git a/tube_drop/scene_000176/metadata.json b/tube_drop/scene_000176/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..057cc967f7cdcad0a2b985d730ffdc881e296dcc --- /dev/null +++ b/tube_drop/scene_000176/metadata.json @@ -0,0 +1,1166 @@ +{ + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ], + "duration_s": 15.188171059669395, + "episode_id": 176, + "error_type": "tube_drop", + "frame_count": 456, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.0459323847261297, + "direction_azimuth_deg": 102.64381209025782, + "lateral_speed_mps": 0.04625869920912672, + "phase": "lower_to_rack", + "phase_fraction": 0.8026333299219228, + "release_clearance_m": 0.004787244617776533, + "release_tilt_deg": 128.02327770844772, + "stage": "insertion", + "tip_duration_s": 0.3233240198360448, + "trigger_time_s": 14.160028279691044, + "tube_detach_fraction": 0.49793274547098026, + "tube_engagement_fraction": 0.38713074938878045, + "tube_on_rack": true, + "upward_speed_mps": 0.03718423442542322 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_yaw_deg": -21.585147807640787, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_to_vortex_bearing_deg": 169.53505575564927, + "rack_to_vortex_distance_m": 0.7126201570560274, + "rack_yaw_deg": -21.585147807640787, + "return_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_position_m": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683 + }, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "effective_peak_level_fraction": 0.6940534604564078, + "effective_vortex_level_rise_fraction": 0.19774551910015423, + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "present": true, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "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": 141760000, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + } + }, + "render_and_primary_validation_seconds": 101.46427338407375, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000176", + "schema_version": 15, + "seed": 141760000, + "shared_state_sha256": "da56854b1b52b51034235bf0a07344c7b3fa095648222afc16541d6b9e59e25e", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.508286917557314, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + }, + "trajectory_validation": { + "duration_s": 15.188171059669395, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.0471501066083613e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00451196789366215, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 456, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 456, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.008379340277777777, + "mean_luminance": 134.3701629638672, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 76, + 152, + 228, + 303, + 379, + 455 + ], + "spatial_standard_deviation": 35.93745803833008, + "valid": true + }, + "views": { + "front": { + "bytes": 18885751, + "metadata": "front.json", + "sha256": "14ef179fede8ea601aab8bad075f3c9bcd826d8e79e23be891162afba8dd57af", + "video": "front.mp4" + }, + "left": { + "bytes": 18193605, + "metadata": "left.json", + "sha256": "ded31256b8802be189f55d48686bf4a072dc7244e57d6278b88e70662d64e4b0", + "video": "left.mp4" + }, + "right": { + "bytes": 15486652, + "metadata": "right.json", + "sha256": "a022feb5d0ac0e055a789134a1ef6aa9370bf63ba08ffc3e7c9ccf58b98a4fb2", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683, + "worker_elapsed_seconds": 122.83877782104537, + "wrong_orientation": { + "azimuth_deg": 59.57018107431867, + "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": [ + -0.17620538096392024, + -0.013431644201426285, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 85.47479083157657, + "release_lateral_offset_m": 0.018396583289873224, + "release_phase_fraction": 0.759217724092473, + "release_tilt_deg": 27.657603720275247, + "release_time_s": 14.097540480447766, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + -0.21591889627969132, + -0.018210420327592416, + 0.8500000000000001 + ], + "yaw_deg": 6.861481327442405 + } +} diff --git a/tube_drop/scene_000176/right.json b/tube_drop/scene_000176/right.json new file mode 100644 index 0000000000000000000000000000000000000000..754fcf81872dda0b55c14ab388a10ca6935e378e --- /dev/null +++ b/tube_drop/scene_000176/right.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ], + "duration_s": 15.188171059669395, + "episode_id": 176, + "error_type": "tube_drop", + "frame_count": 456, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.0459323847261297, + "direction_azimuth_deg": 102.64381209025782, + "lateral_speed_mps": 0.04625869920912672, + "phase": "lower_to_rack", + "phase_fraction": 0.8026333299219228, + "release_clearance_m": 0.004787244617776533, + "release_tilt_deg": 128.02327770844772, + "stage": "insertion", + "tip_duration_s": 0.3233240198360448, + "trigger_time_s": 14.160028279691044, + "tube_detach_fraction": 0.49793274547098026, + "tube_engagement_fraction": 0.38713074938878045, + "tube_on_rack": true, + "upward_speed_mps": 0.03718423442542322 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_yaw_deg": -21.585147807640787, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.2829666483744502, + 1.0824802558976279, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9131996390958091, + "yaw_deg": -169.9597274478773 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 0.0, + "position": [ + 0.3150944197186586, + -0.2161119361461321, + 0.7990136333788064 + ], + "roll_deg": -86.55151396506646, + "surface": "main_table", + "uniform_scale": 0.9355641075611385, + "yaw_deg": -129.7995674360208 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.49948197039261677, + -0.016087728895029463, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9025122624868549, + "yaw_deg": -126.68213800311004 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.2401331339371217, + -0.24257097867129224, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0019724532002572, + "yaw_deg": -163.76147031837814 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6321870597521148, + 1.1887317639591304, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.7934192563691101, + "yaw_deg": -0.780037853951967 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.015168152103040455, + 1.042770356744784, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9885742561342099, + "yaw_deg": 109.88816930147806 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + 0.48175240125808794, + 0.3445059031204292, + 0.8000431019624752 + ], + "roll_deg": -89.68328054441702, + "surface": "main_table", + "uniform_scale": 1.0486925233489177, + "yaw_deg": 111.50906361208149 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.06563027343399563, + 1.3077926941220854, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8550968937127762, + "yaw_deg": -26.880798134582818 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.7379335049442008, + 0.2471011990000338, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0512277675816368, + "yaw_deg": -5.987345285773358 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.87063828860296, + 0.5190118536234476, + 0.19821720578370183 + ], + "cabinet_color_rgb": [ + 0.5184455647476641, + 0.6240623511538977, + 0.5747562486097544 + ], + "floor_color_rgb": [ + 0.20304633006171552, + 0.2751367233290896, + 0.24470690668543887 + ], + "screen_color_rgb": [ + 0.3625964289134931, + 0.7218259667537534, + 0.6516638337060029 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7329002566933662, + 0.7849831184380971, + 0.776175816213726 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9717303532982732 + ], + "light_intensity": 1652.8688066075206, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.16706412275685234, + 0.1172911820532399, + 0.79 + ], + "rack_to_vortex_bearing_deg": 169.53505575564927, + "rack_to_vortex_distance_m": 0.7126201570560274, + "rack_yaw_deg": -21.585147807640787, + "return_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_position_m": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683 + }, + "liquid": { + "color_rgb": [ + 0.0381927098423521, + 0.2164687155827317, + 0.36609697505027067 + ], + "effective_peak_level_fraction": 0.6940534604564078, + "effective_vortex_level_rise_fraction": 0.19774551910015423, + "fill_fraction": 0.49630794135625356, + "opacity": 0.919428018885476, + "present": true, + "vortex_level_rise_fraction": 0.19774551910015423 + }, + "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": 141760000, + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + 0.0 + ], + "scene_id": "tube_drop/scene_000176", + "schema_version": 15, + "seed": 141760000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "da56854b1b52b51034235bf0a07344c7b3fa095648222afc16541d6b9e59e25e", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.508286917557314, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "s_sway", + "approach_sway_m": 0.005925760239978699, + "depart_pattern": "lean", + "depart_sway_m": 0.004194869496167172, + "handling_noise_amplitude_m": 0.003388286747507101, + "handling_noise_frequency_hz": 0.7570103222044249, + "handling_noise_phase_xyz_rad": [ + 4.868759166051057, + 1.9217970190705753, + 5.289300083188393 + ], + "lift_height_m": 0.08007788649832517, + "orientation_noise_deg": 5.833269685019695, + "outbound_curve_bias": -0.03443287333233347, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 14.444096844934634, + 15.188171059669395 + ], + "initial_hold": [ + 0.0, + 0.7362544972604501 + ], + "lift_from_rack": [ + 0.7362544972604501, + 2.1357986829405498 + ], + "lower_to_rack": [ + 13.004803345524554, + 14.444096844934634 + ], + "lower_to_vortex": [ + 4.780605012584921, + 5.969542786311493 + ], + "raise_from_vortex": [ + 10.020955437451207, + 10.982483848271528 + ], + "transfer_to_rack": [ + 10.982483848271528, + 13.004803345524554 + ], + "transfer_to_vortex": [ + 2.1357986829405498, + 4.780605012584921 + ], + "vortex": [ + 5.969542786311493, + 10.020955437451207 + ] + }, + "pick_line_azimuth_deg": 100.16125432674534, + "pick_line_tilt_deg": 5.567508082535432, + "pick_pattern": "straight", + "pick_sway_m": 0.005881661060230263, + "put_pattern": "s_sway", + "put_sway_m": 0.006873277359100023, + "rack_put_height_m": 0.3814159205295844, + "return_bend_scale": 0.8178002728448749, + "return_curve_bias": -0.672157834128049, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.3053162819996045, + "transfer_bend_m": 0.18229414269137678, + "transfer_side": -1.0, + "transport_tilt_deg": 15.070174619530814, + "vertical_arc_m": 0.2632204335246829, + "vortex_apparent_frequency_hz": 10.736164164507809, + "vortex_approach_height_m": 0.22480343102110512, + "vortex_depart_height_m": 0.23246212399771066, + "vortex_frequency_hz": 19.26383583549219, + "vortex_phase_rad": 5.009795093474746, + "vortex_radius_m": 0.00025170680671086893, + "vortex_tilt_deg": 0.744659170813212 + }, + "trajectory_validation": { + "duration_s": 15.188171059669395, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.0471501066083613e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00451196789366215, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 11.508286917557314, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.49302909822359386, + "final_angular_speed_deg_s": 2.534799098968506, + "final_linear_speed_mps": 0.0007688069599680603, + "final_position_m": [ + -0.4295157790184021, + 0.17084752023220062, + 0.8083637356758118 + ], + "final_protected_visual_minimum_z_m": 0.7902497934660686, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.21116511523723602, + "first_impact_position_m": [ + -0.46219152212142944, + 0.2059364914894104, + 1.016556978225708 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.75, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.8049033284187317, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + -0.4621985996358823, + 0.20593854776135212, + 1.2979324266423256 + ], + "release_time_s": 11.508286917557314, + "support_clearance_m": 0.0002497934660685708, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.10383283493251454, + 0.14230726168366462, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "a022feb5d0ac0e055a789134a1ef6aa9370bf63ba08ffc3e7c9ccf58b98a4fb2", + "video_validation": { + "actual_frame_count": 456, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 456, + "frame_count_valid": true, + "full_decode_frame_count": 456, + "max_changed_pixel_fraction": 0.008569010416666667, + "mean_luminance": 125.67936706542969, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 76, + 152, + 228, + 303, + 379, + 455 + ], + "spatial_standard_deviation": 36.67197036743164, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.5128314675616406, + 0.3011636479138823, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.5337024689529037, + 0.2467271592236123, + 0.79 + ], + "vortex_yaw_deg": -20.780316846809683, + "wrong_orientation": { + "azimuth_deg": 59.57018107431867, + "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": [ + -0.17620538096392024, + -0.013431644201426285, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 85.47479083157657, + "release_lateral_offset_m": 0.018396583289873224, + "release_phase_fraction": 0.759217724092473, + "release_tilt_deg": 27.657603720275247, + "release_time_s": 14.097540480447766, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + -0.21591889627969132, + -0.018210420327592416, + 0.8500000000000001 + ], + "yaw_deg": 6.861481327442405 + } +} diff --git a/tube_drop/scene_000193/front.json b/tube_drop/scene_000193/front.json new file mode 100644 index 0000000000000000000000000000000000000000..3a81ddcb4eebd160c629e4676fdf77d433f7987d --- /dev/null +++ b/tube_drop/scene_000193/front.json @@ -0,0 +1,959 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ], + "duration_s": 17.056691464828333, + "episode_id": 193, + "error_type": "tube_drop", + "frame_count": 512, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.358854052584261, + "direction_azimuth_deg": 153.07065286060885, + "lateral_speed_mps": 0.048372804365682746, + "phase": "lift_from_rack", + "phase_fraction": 0.41152186073462893, + "release_clearance_m": 0.007954918945328168, + "release_tilt_deg": 137.57530849091972, + "stage": "pickup", + "tip_duration_s": 0.3289536664360191, + "trigger_time_s": 1.7015138488137302, + "tube_detach_fraction": 0.5939760090046701, + "tube_engagement_fraction": 0.3162279613322856, + "tube_on_rack": true, + "upward_speed_mps": 0.07300502103473402 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_yaw_deg": -40.29856326496838, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_to_vortex_bearing_deg": 17.053064781690253, + "rack_to_vortex_distance_m": 0.8684358035270783, + "rack_yaw_deg": -40.29856326496838, + "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": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position_m": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796 + }, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "effective_peak_level_fraction": 0.6485109539131817, + "effective_vortex_level_rise_fraction": 0.21765409369727462, + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "present": true, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "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": 141930002, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000193", + "schema_version": 15, + "seed": 141930002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "3e7c53d46b6177d1d52f5deaec5c5e1111cd330bd2d62560e9e0e3e3d72c2ff9", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.273650711977984, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + }, + "trajectory_validation": { + "duration_s": 17.056691464828333, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 8.795715199233958e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0026463373671698656, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "video": "front.mp4", + "video_sha256": "e7d70e9604e7f8f97adf907aacc2ce46f0a9a3c043789c25badf59a03899c17e", + "video_validation": { + "actual_frame_count": 512, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 512, + "frame_count_valid": true, + "full_decode_frame_count": 512, + "max_changed_pixel_fraction": 0.007248697916666666, + "mean_luminance": 155.94964599609375, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 85, + 170, + 256, + 341, + 426, + 511 + ], + "spatial_standard_deviation": 34.330265045166016, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796, + "wrong_orientation": { + "azimuth_deg": 107.14877444211021, + "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": [ + 0.6563630591385333, + 0.3714266914389326, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 89.11655162903071, + "release_lateral_offset_m": 0.020336426426098526, + "release_phase_fraction": 0.7096243800679697, + "release_tilt_deg": 32.71127938820747, + "release_time_s": 16.110334502909016, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + 0.6329806642771583, + 0.40388071446454127, + 0.8500000000000001 + ], + "yaw_deg": -54.22809696282533 + } +} diff --git a/tube_drop/scene_000193/left.json b/tube_drop/scene_000193/left.json new file mode 100644 index 0000000000000000000000000000000000000000..bc16ca00e39d12f80d12c6e118e3b26fec08457c --- /dev/null +++ b/tube_drop/scene_000193/left.json @@ -0,0 +1,959 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ], + "duration_s": 17.056691464828333, + "episode_id": 193, + "error_type": "tube_drop", + "frame_count": 512, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.358854052584261, + "direction_azimuth_deg": 153.07065286060885, + "lateral_speed_mps": 0.048372804365682746, + "phase": "lift_from_rack", + "phase_fraction": 0.41152186073462893, + "release_clearance_m": 0.007954918945328168, + "release_tilt_deg": 137.57530849091972, + "stage": "pickup", + "tip_duration_s": 0.3289536664360191, + "trigger_time_s": 1.7015138488137302, + "tube_detach_fraction": 0.5939760090046701, + "tube_engagement_fraction": 0.3162279613322856, + "tube_on_rack": true, + "upward_speed_mps": 0.07300502103473402 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_yaw_deg": -40.29856326496838, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_to_vortex_bearing_deg": 17.053064781690253, + "rack_to_vortex_distance_m": 0.8684358035270783, + "rack_yaw_deg": -40.29856326496838, + "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": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position_m": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796 + }, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "effective_peak_level_fraction": 0.6485109539131817, + "effective_vortex_level_rise_fraction": 0.21765409369727462, + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "present": true, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "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": 141930002, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000193", + "schema_version": 15, + "seed": 141930002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "3e7c53d46b6177d1d52f5deaec5c5e1111cd330bd2d62560e9e0e3e3d72c2ff9", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.273650711977984, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + }, + "trajectory_validation": { + "duration_s": 17.056691464828333, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 8.795715199233958e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0026463373671698656, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "video": "left.mp4", + "video_sha256": "6a8c55d2b1f067329256d58f2a6e0518f19ee909e4b9741889cec501e14e0424", + "video_validation": { + "actual_frame_count": 512, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 512, + "frame_count_valid": true, + "full_decode_frame_count": 512, + "max_changed_pixel_fraction": 0.006561631944444445, + "mean_luminance": 152.88119506835938, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 85, + 170, + 256, + 341, + 426, + 511 + ], + "spatial_standard_deviation": 35.55046463012695, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796, + "wrong_orientation": { + "azimuth_deg": 107.14877444211021, + "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": [ + 0.6563630591385333, + 0.3714266914389326, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 89.11655162903071, + "release_lateral_offset_m": 0.020336426426098526, + "release_phase_fraction": 0.7096243800679697, + "release_tilt_deg": 32.71127938820747, + "release_time_s": 16.110334502909016, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + 0.6329806642771583, + 0.40388071446454127, + 0.8500000000000001 + ], + "yaw_deg": -54.22809696282533 + } +} diff --git a/tube_drop/scene_000193/metadata.json b/tube_drop/scene_000193/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..def948f459438e6385e62d08af6bca4628744eb6 --- /dev/null +++ b/tube_drop/scene_000193/metadata.json @@ -0,0 +1,1034 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ], + "duration_s": 17.056691464828333, + "episode_id": 193, + "error_type": "tube_drop", + "frame_count": 512, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.358854052584261, + "direction_azimuth_deg": 153.07065286060885, + "lateral_speed_mps": 0.048372804365682746, + "phase": "lift_from_rack", + "phase_fraction": 0.41152186073462893, + "release_clearance_m": 0.007954918945328168, + "release_tilt_deg": 137.57530849091972, + "stage": "pickup", + "tip_duration_s": 0.3289536664360191, + "trigger_time_s": 1.7015138488137302, + "tube_detach_fraction": 0.5939760090046701, + "tube_engagement_fraction": 0.3162279613322856, + "tube_on_rack": true, + "upward_speed_mps": 0.07300502103473402 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_yaw_deg": -40.29856326496838, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_to_vortex_bearing_deg": 17.053064781690253, + "rack_to_vortex_distance_m": 0.8684358035270783, + "rack_yaw_deg": -40.29856326496838, + "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": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position_m": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796 + }, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "effective_peak_level_fraction": 0.6485109539131817, + "effective_vortex_level_rise_fraction": 0.21765409369727462, + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "present": true, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "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": 141930002, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + } + }, + "render_and_primary_validation_seconds": 31.742414517095312, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000193", + "schema_version": 15, + "seed": 141930002, + "shared_state_sha256": "3e7c53d46b6177d1d52f5deaec5c5e1111cd330bd2d62560e9e0e3e3d72c2ff9", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.273650711977984, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + }, + "trajectory_validation": { + "duration_s": 17.056691464828333, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 8.795715199233958e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0026463373671698656, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 512, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 512, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.006561631944444445, + "mean_luminance": 152.88119506835938, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 85, + 170, + 256, + 341, + 426, + 511 + ], + "spatial_standard_deviation": 35.55046463012695, + "valid": true + }, + "views": { + "front": { + "bytes": 23203392, + "metadata": "front.json", + "sha256": "e7d70e9604e7f8f97adf907aacc2ce46f0a9a3c043789c25badf59a03899c17e", + "video": "front.mp4" + }, + "left": { + "bytes": 20659927, + "metadata": "left.json", + "sha256": "6a8c55d2b1f067329256d58f2a6e0518f19ee909e4b9741889cec501e14e0424", + "video": "left.mp4" + }, + "right": { + "bytes": 22877104, + "metadata": "right.json", + "sha256": "734b73d97bcfef31066990bcb8b3e46430de762b50ecd656aafb3da309b4f129", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796, + "worker_elapsed_seconds": 49.360283500980586, + "wrong_orientation": { + "azimuth_deg": 107.14877444211021, + "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": [ + 0.6563630591385333, + 0.3714266914389326, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 89.11655162903071, + "release_lateral_offset_m": 0.020336426426098526, + "release_phase_fraction": 0.7096243800679697, + "release_tilt_deg": 32.71127938820747, + "release_time_s": 16.110334502909016, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + 0.6329806642771583, + 0.40388071446454127, + 0.8500000000000001 + ], + "yaw_deg": -54.22809696282533 + } +} diff --git a/tube_drop/scene_000193/right.json b/tube_drop/scene_000193/right.json new file mode 100644 index 0000000000000000000000000000000000000000..f29413aaf8c734a63385e1fc1868d80937e98221 --- /dev/null +++ b/tube_drop/scene_000193/right.json @@ -0,0 +1,959 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ], + "duration_s": 17.056691464828333, + "episode_id": 193, + "error_type": "tube_drop", + "frame_count": 512, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.358854052584261, + "direction_azimuth_deg": 153.07065286060885, + "lateral_speed_mps": 0.048372804365682746, + "phase": "lift_from_rack", + "phase_fraction": 0.41152186073462893, + "release_clearance_m": 0.007954918945328168, + "release_tilt_deg": 137.57530849091972, + "stage": "pickup", + "tip_duration_s": 0.3289536664360191, + "trigger_time_s": 1.7015138488137302, + "tube_detach_fraction": 0.5939760090046701, + "tube_engagement_fraction": 0.3162279613322856, + "tube_on_rack": true, + "upward_speed_mps": 0.07300502103473402 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_yaw_deg": -40.29856326496838, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.4685402892214574, + -0.3518533218004828, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8444772533246298, + "yaw_deg": 165.94819131951522 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.5885483385454827, + -0.2625148243854989, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0244686971118637, + "yaw_deg": 89.3122854881313 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.8465480863739167, + 1.0625851498572196, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8699487165189834, + "yaw_deg": 113.75666420181994 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.00370943979368632, + -0.34507400949930667, + 0.8174113144682706 + ], + "roll_deg": -88.0543484354763, + "surface": "main_table", + "uniform_scale": 1.0512232214168185, + "yaw_deg": -38.945871728728264 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8577776675356296, + 0.7162747227000704, + 0.20586933309458633 + ], + "cabinet_color_rgb": [ + 0.6397746323023851, + 0.7098227270346519, + 0.7321679301319355 + ], + "floor_color_rgb": [ + 0.29926739135015423, + 0.278993630120702, + 0.37733333214202947 + ], + "screen_color_rgb": [ + 0.3078233567387448, + 0.7269372033014424, + 0.8378064045267257 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7364809312132591, + 0.7802485393564054, + 0.7630743934596064 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9669882875637957 + ], + "light_intensity": 2796.588346787295, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.42706625471548476, + -0.14422587978889703, + 0.79 + ], + "rack_to_vortex_bearing_deg": 17.053064781690253, + "rack_to_vortex_distance_m": 0.8684358035270783, + "rack_yaw_deg": -40.29856326496838, + "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": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position_m": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "vortex_contact_position_m": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796 + }, + "liquid": { + "color_rgb": [ + 0.029566401860183944, + 0.3144305694875887, + 0.2455763954758146 + ], + "effective_peak_level_fraction": 0.6485109539131817, + "effective_vortex_level_rise_fraction": 0.21765409369727462, + "fill_fraction": 0.4308568602159071, + "opacity": 0.9050154543820097, + "present": true, + "vortex_level_rise_fraction": 0.21765409369727462 + }, + "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": 141930002, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000193", + "schema_version": 15, + "seed": 141930002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "3e7c53d46b6177d1d52f5deaec5c5e1111cd330bd2d62560e9e0e3e3d72c2ff9", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.025, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 4.273650711977984, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0034039788841534486, + "depart_pattern": "spiral", + "depart_sway_m": -0.010376797537548622, + "handling_noise_amplitude_m": 0.003734493538466372, + "handling_noise_frequency_hz": 2.073062205633267, + "handling_noise_phase_xyz_rad": [ + 2.873746090209806, + 5.454657522387051, + 5.258236580429517 + ], + "lift_height_m": 0.13674056823955572, + "orientation_noise_deg": 6.222008661357505, + "outbound_curve_bias": 0.015323298472139757, + "outbound_pattern": "high_arc", + "phase_boundaries_s": { + "final_hold": [ + 16.29587333547232, + 17.056691464828333 + ], + "initial_hold": [ + 0.0, + 1.2277142891858417 + ], + "lift_from_rack": [ + 1.2277142891858417, + 2.3790493817665483 + ], + "lower_to_rack": [ + 15.656911866852004, + 16.29587333547232 + ], + "lower_to_vortex": [ + 5.220504637343073, + 6.448798367607383 + ], + "raise_from_vortex": [ + 11.086426431471125, + 12.269840644515199 + ], + "transfer_to_rack": [ + 12.269840644515199, + 15.656911866852004 + ], + "transfer_to_vortex": [ + 2.3790493817665483, + 5.220504637343073 + ], + "vortex": [ + 6.448798367607383, + 11.086426431471125 + ] + }, + "pick_line_azimuth_deg": 95.13660331412484, + "pick_line_tilt_deg": 11.554460089393247, + "pick_pattern": "straight", + "pick_sway_m": -0.007477018661622419, + "put_pattern": "straight", + "put_sway_m": 0.003539894194268798, + "rack_put_height_m": 0.19988210959187103, + "return_bend_scale": 1.6316204346671057, + "return_curve_bias": -0.2001119729954206, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.6076074741884672, + "transfer_bend_m": 0.33796435266424507, + "transfer_side": 1.0, + "transport_tilt_deg": 0.08059640351649544, + "vertical_arc_m": 0.12405337184334814, + "vortex_apparent_frequency_hz": 7.674330206365298, + "vortex_approach_height_m": 0.12513731537157433, + "vortex_depart_height_m": 0.279957331533669, + "vortex_frequency_hz": 37.6743302063653, + "vortex_phase_rad": 1.961712395377336, + "vortex_radius_m": 0.00037532109144983064, + "vortex_tilt_deg": 0.8549723096130774 + }, + "trajectory_validation": { + "duration_s": 17.056691464828333, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 8.795715199233958e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0026463373671698656, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.6667714814418311, + "release_time_s": 4.273650711977984, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.3631418822270549, + "final_angular_speed_deg_s": 24.73442268371582, + "final_linear_speed_mps": 0.007807199377566576, + "final_position_m": [ + 0.392350971698761, + 0.46260789036750793, + 0.8083625435829163 + ], + "final_protected_visual_minimum_z_m": 0.7902500435829176, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.4974703788757324, + "first_impact_position_m": [ + 0.21643663942813873, + 0.1455431580543518, + 0.7910032272338867 + ], + "first_impact_surface": "table", + "first_impact_time_s": 4.541666666666667, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.7903351187705994, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.6667714814418311, + "release_position_m": [ + 0.21643664362227796, + 0.14554315854925637, + 1.1534770009976543 + ], + "release_time_s": 4.273650711977984, + "support_clearance_m": 0.00025004358291758066, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.4842675958304177, + -0.09571808067727905, + 0.8394 + ], + "tube_start_position": [ + -0.4079991410105071, + -0.16039514615943637, + 0.8394 + ], + "video": "right.mp4", + "video_sha256": "734b73d97bcfef31066990bcb8b3e46430de762b50ecd656aafb3da309b4f129", + "video_validation": { + "actual_frame_count": 512, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 512, + "frame_count_valid": true, + "full_decode_frame_count": 512, + "max_changed_pixel_fraction": 0.00465234375, + "mean_luminance": 145.29110717773438, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 85, + 170, + 256, + 341, + 426, + 511 + ], + "spatial_standard_deviation": 34.49104690551758, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.41013249469387325, + 0.1380511741921181, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.40318752189449414, + 0.11044922946324284, + 0.79 + ], + "vortex_yaw_deg": -33.194665583471796, + "wrong_orientation": { + "azimuth_deg": 107.14877444211021, + "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": [ + 0.6563630591385333, + 0.3714266914389326, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 89.11655162903071, + "release_lateral_offset_m": 0.020336426426098526, + "release_phase_fraction": 0.7096243800679697, + "release_tilt_deg": 32.71127938820747, + "release_time_s": 16.110334502909016, + "slot_offset_xy": [ + -0.04, + 0.0 + ], + "tube_target_position": [ + 0.6329806642771583, + 0.40388071446454127, + 0.8500000000000001 + ], + "yaw_deg": -54.22809696282533 + } +} diff --git a/tube_drop/scene_000194/front.json b/tube_drop/scene_000194/front.json new file mode 100644 index 0000000000000000000000000000000000000000..69316042376b8c69c387a4b86c94207ecce239ca --- /dev/null +++ b/tube_drop/scene_000194/front.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ], + "duration_s": 16.39527454817691, + "episode_id": 194, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5448509394317826, + "direction_azimuth_deg": -111.12632323454908, + "lateral_speed_mps": 0.04448738936931902, + "phase": "lower_to_rack", + "phase_fraction": 0.787610011957808, + "release_clearance_m": 0.005235666276663351, + "release_tilt_deg": 137.5483265243744, + "stage": "insertion", + "tip_duration_s": 0.28468493749739565, + "trigger_time_s": 15.142022170348605, + "tube_detach_fraction": 0.5192236704651501, + "tube_engagement_fraction": 0.6050722514326562, + "tube_on_rack": true, + "upward_speed_mps": 0.08781445814488048 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_yaw_deg": 27.175915465037804, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_to_vortex_bearing_deg": -22.327659622875213, + "rack_to_vortex_distance_m": 0.6553353505512083, + "rack_yaw_deg": 27.175915465037804, + "return_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + -0.034 + ], + "tube_return_position_m": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_position_m": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486 + }, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "effective_peak_level_fraction": 0.6175987433616218, + "effective_vortex_level_rise_fraction": 0.19237928510162572, + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "present": true, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "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": 141940002, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + -0.034 + ], + "scene_id": "tube_drop/scene_000194", + "schema_version": 15, + "seed": 141940002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "56a40d8bae7a8da44d72aa648ddbecad9938918981e83ad49e88e08525aa1835", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 12.175445808462758, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + }, + "trajectory_validation": { + "duration_s": 16.39527454817691, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.449557262054371e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00648770939182193, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "7d1608627a04bd71177b85985132fc0b0735c037448b27bf4cb2d4fc86684536", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "full_decode_frame_count": 492, + "max_changed_pixel_fraction": 0.009344618055555556, + "mean_luminance": 148.2728271484375, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 38.47437286376953, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486, + "wrong_orientation": { + "azimuth_deg": -155.5503729238976, + "mode": "tilted", + "tilt_deg_from_z": 39.83054580845596 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 72.89630706079018, + "release_lateral_offset_m": 0.02331465040308084, + "release_phase_fraction": 0.7520737077197166, + "release_tilt_deg": 31.023753002188133, + "release_time_s": 15.085323228566644, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.8500000000000001 + ], + "yaw_deg": 71.5571265329329 + } +} diff --git a/tube_drop/scene_000194/left.json b/tube_drop/scene_000194/left.json new file mode 100644 index 0000000000000000000000000000000000000000..4cc3c6b853030f7354d1be4a1cdf89a426595650 --- /dev/null +++ b/tube_drop/scene_000194/left.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ], + "duration_s": 16.39527454817691, + "episode_id": 194, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5448509394317826, + "direction_azimuth_deg": -111.12632323454908, + "lateral_speed_mps": 0.04448738936931902, + "phase": "lower_to_rack", + "phase_fraction": 0.787610011957808, + "release_clearance_m": 0.005235666276663351, + "release_tilt_deg": 137.5483265243744, + "stage": "insertion", + "tip_duration_s": 0.28468493749739565, + "trigger_time_s": 15.142022170348605, + "tube_detach_fraction": 0.5192236704651501, + "tube_engagement_fraction": 0.6050722514326562, + "tube_on_rack": true, + "upward_speed_mps": 0.08781445814488048 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_yaw_deg": 27.175915465037804, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_to_vortex_bearing_deg": -22.327659622875213, + "rack_to_vortex_distance_m": 0.6553353505512083, + "rack_yaw_deg": 27.175915465037804, + "return_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + -0.034 + ], + "tube_return_position_m": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_position_m": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486 + }, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "effective_peak_level_fraction": 0.6175987433616218, + "effective_vortex_level_rise_fraction": 0.19237928510162572, + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "present": true, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "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": 141940002, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + -0.034 + ], + "scene_id": "tube_drop/scene_000194", + "schema_version": 15, + "seed": 141940002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "56a40d8bae7a8da44d72aa648ddbecad9938918981e83ad49e88e08525aa1835", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 12.175445808462758, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + }, + "trajectory_validation": { + "duration_s": 16.39527454817691, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.449557262054371e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00648770939182193, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "c8bb57ca29ae2232ec30f91f78b5d41b040f8578822446f5d4635785b37a80f7", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "full_decode_frame_count": 492, + "max_changed_pixel_fraction": 0.009378038194444445, + "mean_luminance": 148.6224365234375, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 39.262733459472656, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486, + "wrong_orientation": { + "azimuth_deg": -155.5503729238976, + "mode": "tilted", + "tilt_deg_from_z": 39.83054580845596 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 72.89630706079018, + "release_lateral_offset_m": 0.02331465040308084, + "release_phase_fraction": 0.7520737077197166, + "release_tilt_deg": 31.023753002188133, + "release_time_s": 15.085323228566644, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.8500000000000001 + ], + "yaw_deg": 71.5571265329329 + } +} diff --git a/tube_drop/scene_000194/metadata.json b/tube_drop/scene_000194/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..61969542bdeceabdb85ebd2ff9faa12d5f77d235 --- /dev/null +++ b/tube_drop/scene_000194/metadata.json @@ -0,0 +1,1166 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ], + "duration_s": 16.39527454817691, + "episode_id": 194, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 1.5448509394317826, + "direction_azimuth_deg": -111.12632323454908, + "lateral_speed_mps": 0.04448738936931902, + "phase": "lower_to_rack", + "phase_fraction": 0.787610011957808, + "release_clearance_m": 0.005235666276663351, + "release_tilt_deg": 137.5483265243744, + "stage": "insertion", + "tip_duration_s": 0.28468493749739565, + "trigger_time_s": 15.142022170348605, + "tube_detach_fraction": 0.5192236704651501, + "tube_engagement_fraction": 0.6050722514326562, + "tube_on_rack": true, + "upward_speed_mps": 0.08781445814488048 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_yaw_deg": 27.175915465037804, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_to_vortex_bearing_deg": -22.327659622875213, + "rack_to_vortex_distance_m": 0.6553353505512083, + "rack_yaw_deg": 27.175915465037804, + "return_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + -0.034 + ], + "tube_return_position_m": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_position_m": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486 + }, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "effective_peak_level_fraction": 0.6175987433616218, + "effective_vortex_level_rise_fraction": 0.19237928510162572, + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "present": true, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "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": 141940002, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + } + }, + "render_and_primary_validation_seconds": 100.68016280606389, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + -0.034 + ], + "scene_id": "tube_drop/scene_000194", + "schema_version": 15, + "seed": 141940002, + "shared_state_sha256": "56a40d8bae7a8da44d72aa648ddbecad9938918981e83ad49e88e08525aa1835", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 12.175445808462758, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + }, + "trajectory_validation": { + "duration_s": 16.39527454817691, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.449557262054371e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00648770939182193, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.009378038194444445, + "mean_luminance": 148.6224365234375, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 39.262733459472656, + "valid": true + }, + "views": { + "front": { + "bytes": 23042957, + "metadata": "front.json", + "sha256": "7d1608627a04bd71177b85985132fc0b0735c037448b27bf4cb2d4fc86684536", + "video": "front.mp4" + }, + "left": { + "bytes": 18936698, + "metadata": "left.json", + "sha256": "c8bb57ca29ae2232ec30f91f78b5d41b040f8578822446f5d4635785b37a80f7", + "video": "left.mp4" + }, + "right": { + "bytes": 19801239, + "metadata": "right.json", + "sha256": "350f179f3e1f58e489b37b971faa8db4374a755133fa418d6e44a3570e9f3a00", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486, + "worker_elapsed_seconds": 122.21518492279574, + "wrong_orientation": { + "azimuth_deg": -155.5503729238976, + "mode": "tilted", + "tilt_deg_from_z": 39.83054580845596 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 72.89630706079018, + "release_lateral_offset_m": 0.02331465040308084, + "release_phase_fraction": 0.7520737077197166, + "release_tilt_deg": 31.023753002188133, + "release_time_s": 15.085323228566644, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.8500000000000001 + ], + "yaw_deg": 71.5571265329329 + } +} diff --git a/tube_drop/scene_000194/right.json b/tube_drop/scene_000194/right.json new file mode 100644 index 0000000000000000000000000000000000000000..7f30c9b9d7d17eaa3d1d42808d7bf127f73b9f7f --- /dev/null +++ b/tube_drop/scene_000194/right.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ], + "duration_s": 16.39527454817691, + "episode_id": 194, + "error_type": "tube_drop", + "frame_count": 492, + "generation_success": true, + "light_color_rgb": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.5448509394317826, + "direction_azimuth_deg": -111.12632323454908, + "lateral_speed_mps": 0.04448738936931902, + "phase": "lower_to_rack", + "phase_fraction": 0.787610011957808, + "release_clearance_m": 0.005235666276663351, + "release_tilt_deg": 137.5483265243744, + "stage": "insertion", + "tip_duration_s": 0.28468493749739565, + "trigger_time_s": 15.142022170348605, + "tube_detach_fraction": 0.5192236704651501, + "tube_engagement_fraction": 0.6050722514326562, + "tube_on_rack": true, + "upward_speed_mps": 0.08781445814488048 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_yaw_deg": 27.175915465037804, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + 0.4262385366693048, + 1.1518715628023037, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1280848260505394, + "yaw_deg": 56.219470485162276 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.21149786209934984, + 1.149137443970558, + 0.8403944390316925 + ], + "roll_deg": -86.60411782887267, + "surface": "rear_bench", + "uniform_scale": 1.0873009924936883, + "yaw_deg": 21.054257558524853 + }, + { + "asset_id": "AUX-TR-003", + "pitch_deg": 0.0, + "position": [ + 0.09499687022428449, + 1.1795249026501404, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.066155536153827, + "yaw_deg": -177.2867933260309 + }, + { + "asset_id": "PIP-001", + "pitch_deg": -86.19283597428192, + "position": [ + 0.043870947466294274, + 0.1918108401246464, + 0.8043669959472499 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8085711922594656, + "yaw_deg": -94.50255079813857 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.7475687191473399, + 1.2869062749474662, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8966921627797426, + "yaw_deg": -94.15724615594915 + }, + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.2763568942959531, + 0.33389597044065195, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8727068189566984, + "yaw_deg": -70.13308612624724 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.599012870560076, + -0.08938514839598927, + 0.8075434253658934 + ], + "roll_deg": 89.67368291684987, + "surface": "main_table", + "uniform_scale": 1.0084867080410294, + "yaw_deg": 151.4536587425215 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.3431049652396417, + -0.3580624154384901, + 0.8141722539038811 + ], + "roll_deg": 89.41023017254436, + "surface": "main_table", + "uniform_scale": 0.9246974181203539, + "yaw_deg": 156.1586718635005 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.5341759118000403, + 0.3498108446787267, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1215269930281013, + "yaw_deg": -30.056303432485635 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8182258468258078, + 0.731557255338351, + 0.1726309195542809 + ], + "cabinet_color_rgb": [ + 0.6427190848303306, + 0.7089274513485989, + 0.7096428991691343 + ], + "floor_color_rgb": [ + 0.22010925243289303, + 0.34241936623595914, + 0.36057495225447506 + ], + "screen_color_rgb": [ + 0.2829488567338493, + 0.7371593535978399, + 0.8140423844369151 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7544083385739061, + 0.8384794598686479, + 0.7785830569489549 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.974671632331702, + 0.92, + 0.92 + ], + "light_intensity": 2502.3160741826323, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.40137291157205335, + 0.012107414565152352, + 0.79 + ], + "rack_to_vortex_bearing_deg": -22.327659622875213, + "rack_to_vortex_distance_m": 0.6553353505512083, + "rack_yaw_deg": 27.175915465037804, + "return_slot_offset_xy_m": [ + -0.068, + -0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.034, + -0.034 + ], + "tube_return_position_m": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_position_m": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486 + }, + "liquid": { + "color_rgb": [ + 0.05417112619902092, + 0.25440184700854773, + 0.3573227159629479 + ], + "effective_peak_level_fraction": 0.6175987433616218, + "effective_vortex_level_rise_fraction": 0.19237928510162572, + "fill_fraction": 0.4252194582599961, + "opacity": 0.8370512549252911, + "present": true, + "vortex_level_rise_fraction": 0.19237928510162572 + }, + "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": 141940002, + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + -0.068, + -0.034 + ], + "scene_id": "tube_drop/scene_000194", + "schema_version": 15, + "seed": 141940002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "56a40d8bae7a8da44d72aa648ddbecad9938918981e83ad49e88e08525aa1835", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.034, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 12.175445808462758, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "straight", + "approach_sway_m": 0.006460465132456479, + "depart_pattern": "hook", + "depart_sway_m": 0.008489171390303658, + "handling_noise_amplitude_m": 0.01013001472987787, + "handling_noise_frequency_hz": 1.5215539186619211, + "handling_noise_phase_xyz_rad": [ + 0.5708262426388134, + 3.6656211224815545, + 2.9334778462705966 + ], + "lift_height_m": 0.12202563938910768, + "orientation_noise_deg": 6.76835400962408, + "outbound_curve_bias": 0.2573685131416513, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 15.48089498859084, + 16.39527454817691 + ], + "initial_hold": [ + 0.0, + 1.2583587852195288 + ], + "lift_from_rack": [ + 1.2583587852195288, + 2.665733060958326 + ], + "lower_to_rack": [ + 13.88537336647503, + 15.48089498859084 + ], + "lower_to_vortex": [ + 4.889813767657249, + 5.501367876236037 + ], + "raise_from_vortex": [ + 10.182570534928626, + 11.574660450242229 + ], + "transfer_to_rack": [ + 11.574660450242229, + 13.88537336647503 + ], + "transfer_to_vortex": [ + 2.665733060958326, + 4.889813767657249 + ], + "vortex": [ + 5.501367876236037, + 10.182570534928626 + ] + }, + "pick_line_azimuth_deg": 43.14990434148487, + "pick_line_tilt_deg": 1.8331496044159374, + "pick_pattern": "lean", + "pick_sway_m": 0.0023316631102372554, + "put_pattern": "spiral", + "put_sway_m": -0.002852430288585416, + "rack_put_height_m": 0.2024728212670142, + "return_bend_scale": 1.2512998004753997, + "return_curve_bias": 0.4396515330017774, + "return_pattern": "direct", + "return_side": -1.0, + "return_vertical_arc_scale": 1.0281719507461287, + "transfer_bend_m": 0.2386250720775212, + "transfer_side": 1.0, + "transport_tilt_deg": 6.1460659633306935, + "vertical_arc_m": 0.28402991397621585, + "vortex_apparent_frequency_hz": 10.057471346841353, + "vortex_approach_height_m": 0.21723540068865732, + "vortex_depart_height_m": 0.19867498614010287, + "vortex_frequency_hz": 40.05747134684135, + "vortex_phase_rad": 5.367156484571492, + "vortex_radius_m": 0.0007158581907928275, + "vortex_tilt_deg": 0.5169483113030433 + }, + "trajectory_validation": { + "duration_s": 16.39527454817691, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.449557262054371e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.00648770939182193, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.26, + "release_time_s": 12.175445808462758, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.21251914315918286, + "final_angular_speed_deg_s": 0.34046950936317444, + "final_linear_speed_mps": 0.001402395311743021, + "final_position_m": [ + 0.08899857103824615, + -0.1781071126461029, + 1.0150001049041748 + ], + "final_protected_visual_minimum_z_m": 1.0149997905724057, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.07189119607210159, + "first_impact_position_m": [ + 0.08899913728237152, + -0.1780947744846344, + 1.0148121118545532 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.391666666666667, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 1.006810188293457, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.26, + "release_position_m": [ + 0.08913117414811175, + -0.17822575254830172, + 1.2193293314526399 + ], + "release_time_s": 12.175445808462758, + "support_clearance_m": 0.2249997905724057, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.44633766878228825, + -0.049196505448372306, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4160909818954894, + -0.03366788888500942, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "350f179f3e1f58e489b37b971faa8db4374a755133fa418d6e44a3570e9f3a00", + "video_validation": { + "actual_frame_count": 492, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 492, + "frame_count_valid": true, + "full_decode_frame_count": 492, + "max_changed_pixel_fraction": 0.007255642361111111, + "mean_luminance": 140.56788635253906, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 327, + 409, + 491 + ], + "spatial_standard_deviation": 37.52390670776367, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.15667574800735648, + -0.2039908738482944, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + 0.20482960660031835, + -0.2368562949259108, + 0.79 + ], + "vortex_yaw_deg": 55.88268279923486, + "wrong_orientation": { + "azimuth_deg": -155.5503729238976, + "mode": "tilted", + "tilt_deg_from_z": 39.83054580845596 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 72.89630706079018, + "release_lateral_offset_m": 0.02331465040308084, + "release_phase_fraction": 0.7520737077197166, + "release_tilt_deg": 31.023753002188133, + "release_time_s": 15.085323228566644, + "slot_offset_xy": [ + 0.0, + 0.0 + ], + "tube_target_position": [ + 0.4141120766228169, + 0.06525192941814062, + 0.8500000000000001 + ], + "yaw_deg": 71.5571265329329 + } +} diff --git a/tube_drop/scene_000204/front.json b/tube_drop/scene_000204/front.json new file mode 100644 index 0000000000000000000000000000000000000000..21a860d928b31873ce3ad4717b608f45a369be05 --- /dev/null +++ b/tube_drop/scene_000204/front.json @@ -0,0 +1,961 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ], + "duration_s": 17.65142238193548, + "episode_id": 204, + "error_type": "tube_drop", + "frame_count": 530, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.483377114423533, + "direction_azimuth_deg": -176.7645692401537, + "lateral_speed_mps": 0.05286031571213207, + "phase": "lift_from_rack", + "phase_fraction": 0.37758263793166513, + "release_clearance_m": 0.011129756064967815, + "release_tilt_deg": 141.34180844212315, + "stage": "pickup", + "tip_duration_s": 0.39340145671585597, + "trigger_time_s": 2.0180448707954093, + "tube_detach_fraction": 0.5043070512344925, + "tube_engagement_fraction": 0.4696372315585797, + "tube_on_rack": true, + "upward_speed_mps": 0.07397965904055548 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_yaw_deg": 36.46298240271376, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_to_vortex_bearing_deg": -173.92160183032473, + "rack_to_vortex_distance_m": 0.49119469454128856, + "rack_yaw_deg": 36.46298240271376, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.0, + -0.034 + ], + "tube_return_position_m": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813 + }, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "effective_peak_level_fraction": 0.64230462539884, + "effective_vortex_level_rise_fraction": 0.2252225873758559, + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "present": true, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "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": 142040000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000204", + "schema_version": 15, + "seed": 142040000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "516d0f5011520a247364562f2b20660ae5b51555f321117da4bc1a0a3b160c03", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.0, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.443440321693426, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + }, + "trajectory_validation": { + "duration_s": 17.65142238193548, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.355503409735122e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007451989621971916, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "e434757110a1841c51cf0356de131e1eb37c97e87db01540edb0095729702d2b", + "video_validation": { + "actual_frame_count": 530, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 530, + "frame_count_valid": true, + "full_decode_frame_count": 530, + "max_changed_pixel_fraction": 0.010706163194444444, + "mean_luminance": 135.9592742919922, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 353, + 441, + 529 + ], + "spatial_standard_deviation": 34.567195892333984, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813, + "wrong_orientation": { + "azimuth_deg": 60.268147995796795, + "mode": "tilted", + "tilt_deg_from_z": 42.15608130740466 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5925476913979283, + -0.040706608957933765, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 30.344531299611816, + "release_lateral_offset_m": 0.022232676641538322, + "release_phase_fraction": 0.7090945182995804, + "release_tilt_deg": 31.80903155774965, + "release_time_s": 16.05236480137642, + "slot_offset_xy": [ + -0.04, + 0.019 + ], + "tube_target_position": [ + -0.6367935584939093, + -0.038889125828771826, + 0.8500000000000001 + ], + "yaw_deg": 23.05550738772517 + } +} diff --git a/tube_drop/scene_000204/left.json b/tube_drop/scene_000204/left.json new file mode 100644 index 0000000000000000000000000000000000000000..a36823dd2918d9843af2fcb6f2c332219ff70917 --- /dev/null +++ b/tube_drop/scene_000204/left.json @@ -0,0 +1,961 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ], + "duration_s": 17.65142238193548, + "episode_id": 204, + "error_type": "tube_drop", + "frame_count": 530, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.483377114423533, + "direction_azimuth_deg": -176.7645692401537, + "lateral_speed_mps": 0.05286031571213207, + "phase": "lift_from_rack", + "phase_fraction": 0.37758263793166513, + "release_clearance_m": 0.011129756064967815, + "release_tilt_deg": 141.34180844212315, + "stage": "pickup", + "tip_duration_s": 0.39340145671585597, + "trigger_time_s": 2.0180448707954093, + "tube_detach_fraction": 0.5043070512344925, + "tube_engagement_fraction": 0.4696372315585797, + "tube_on_rack": true, + "upward_speed_mps": 0.07397965904055548 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_yaw_deg": 36.46298240271376, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_to_vortex_bearing_deg": -173.92160183032473, + "rack_to_vortex_distance_m": 0.49119469454128856, + "rack_yaw_deg": 36.46298240271376, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.0, + -0.034 + ], + "tube_return_position_m": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813 + }, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "effective_peak_level_fraction": 0.64230462539884, + "effective_vortex_level_rise_fraction": 0.2252225873758559, + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "present": true, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "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": 142040000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000204", + "schema_version": 15, + "seed": 142040000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "516d0f5011520a247364562f2b20660ae5b51555f321117da4bc1a0a3b160c03", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.0, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.443440321693426, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + }, + "trajectory_validation": { + "duration_s": 17.65142238193548, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.355503409735122e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007451989621971916, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "e664d977da5d7f0f1c968b67d268a122cbb42dec73e674b3c088de103dbda7d8", + "video_validation": { + "actual_frame_count": 530, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 530, + "frame_count_valid": true, + "full_decode_frame_count": 530, + "max_changed_pixel_fraction": 0.0067309027777777775, + "mean_luminance": 136.73202514648438, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 353, + 441, + 529 + ], + "spatial_standard_deviation": 36.4095458984375, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813, + "wrong_orientation": { + "azimuth_deg": 60.268147995796795, + "mode": "tilted", + "tilt_deg_from_z": 42.15608130740466 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5925476913979283, + -0.040706608957933765, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 30.344531299611816, + "release_lateral_offset_m": 0.022232676641538322, + "release_phase_fraction": 0.7090945182995804, + "release_tilt_deg": 31.80903155774965, + "release_time_s": 16.05236480137642, + "slot_offset_xy": [ + -0.04, + 0.019 + ], + "tube_target_position": [ + -0.6367935584939093, + -0.038889125828771826, + 0.8500000000000001 + ], + "yaw_deg": 23.05550738772517 + } +} diff --git a/tube_drop/scene_000204/metadata.json b/tube_drop/scene_000204/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..06475826648a5756dbc3413ab5205450da2d444d --- /dev/null +++ b/tube_drop/scene_000204/metadata.json @@ -0,0 +1,1036 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ], + "duration_s": 17.65142238193548, + "episode_id": 204, + "error_type": "tube_drop", + "frame_count": 530, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.483377114423533, + "direction_azimuth_deg": -176.7645692401537, + "lateral_speed_mps": 0.05286031571213207, + "phase": "lift_from_rack", + "phase_fraction": 0.37758263793166513, + "release_clearance_m": 0.011129756064967815, + "release_tilt_deg": 141.34180844212315, + "stage": "pickup", + "tip_duration_s": 0.39340145671585597, + "trigger_time_s": 2.0180448707954093, + "tube_detach_fraction": 0.5043070512344925, + "tube_engagement_fraction": 0.4696372315585797, + "tube_on_rack": true, + "upward_speed_mps": 0.07397965904055548 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_yaw_deg": 36.46298240271376, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_to_vortex_bearing_deg": -173.92160183032473, + "rack_to_vortex_distance_m": 0.49119469454128856, + "rack_yaw_deg": 36.46298240271376, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.0, + -0.034 + ], + "tube_return_position_m": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813 + }, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "effective_peak_level_fraction": 0.64230462539884, + "effective_vortex_level_rise_fraction": 0.2252225873758559, + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "present": true, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "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": 142040000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + } + }, + "render_and_primary_validation_seconds": 71.35233525489457, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000204", + "schema_version": 15, + "seed": 142040000, + "shared_state_sha256": "516d0f5011520a247364562f2b20660ae5b51555f321117da4bc1a0a3b160c03", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.0, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.443440321693426, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + }, + "trajectory_validation": { + "duration_s": 17.65142238193548, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.355503409735122e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007451989621971916, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 530, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 530, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.0067309027777777775, + "mean_luminance": 136.73202514648438, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 353, + 441, + 529 + ], + "spatial_standard_deviation": 36.4095458984375, + "valid": true + }, + "views": { + "front": { + "bytes": 25850183, + "metadata": "front.json", + "sha256": "e434757110a1841c51cf0356de131e1eb37c97e87db01540edb0095729702d2b", + "video": "front.mp4" + }, + "left": { + "bytes": 25305966, + "metadata": "left.json", + "sha256": "e664d977da5d7f0f1c968b67d268a122cbb42dec73e674b3c088de103dbda7d8", + "video": "left.mp4" + }, + "right": { + "bytes": 23447849, + "metadata": "right.json", + "sha256": "7aef62577bc1c957c4e8669d8369e90d687412b5ec1c4a23ff261a1c56485ae6", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813, + "worker_elapsed_seconds": 94.09490591404028, + "wrong_orientation": { + "azimuth_deg": 60.268147995796795, + "mode": "tilted", + "tilt_deg_from_z": 42.15608130740466 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5925476913979283, + -0.040706608957933765, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 30.344531299611816, + "release_lateral_offset_m": 0.022232676641538322, + "release_phase_fraction": 0.7090945182995804, + "release_tilt_deg": 31.80903155774965, + "release_time_s": 16.05236480137642, + "slot_offset_xy": [ + -0.04, + 0.019 + ], + "tube_target_position": [ + -0.6367935584939093, + -0.038889125828771826, + 0.8500000000000001 + ], + "yaw_deg": 23.05550738772517 + } +} diff --git a/tube_drop/scene_000204/right.json b/tube_drop/scene_000204/right.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2f3e1fd1008c360cc711f0476f43420798a2b9 --- /dev/null +++ b/tube_drop/scene_000204/right.json @@ -0,0 +1,961 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ], + "duration_s": 17.65142238193548, + "episode_id": 204, + "error_type": "tube_drop", + "frame_count": 530, + "generation_success": true, + "light_color_rgb": [ + 0.92, + 0.92, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.483377114423533, + "direction_azimuth_deg": -176.7645692401537, + "lateral_speed_mps": 0.05286031571213207, + "phase": "lift_from_rack", + "phase_fraction": 0.37758263793166513, + "release_clearance_m": 0.011129756064967815, + "release_tilt_deg": 141.34180844212315, + "stage": "pickup", + "tip_duration_s": 0.39340145671585597, + "trigger_time_s": 2.0180448707954093, + "tube_detach_fraction": 0.5043070512344925, + "tube_engagement_fraction": 0.4696372315585797, + "tube_on_rack": true, + "upward_speed_mps": 0.07397965904055548 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_yaw_deg": 36.46298240271376, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 4, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.6121824607387276, + 0.3027350251013866, + 0.8071272985692644 + ], + "roll_deg": -90.5553434407592, + "surface": "main_table", + "uniform_scale": 1.1234661195448892, + "yaw_deg": 166.39467611798693 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5720370222599195, + -0.28199764419449624, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.164495455739757, + "yaw_deg": 75.68280824771156 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.44528992185029614, + -0.31617769063114765, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9244297719663382, + "yaw_deg": 144.78730081937 + }, + { + "asset_id": "PIP-001", + "pitch_deg": 86.55323755902116, + "position": [ + 0.11440956328660945, + -0.3455697034379479, + 0.8053222454676174 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8642708727473688, + "yaw_deg": -157.34630481888016 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8489460998874584, + 0.5282099729806824, + 0.16662739045314867 + ], + "cabinet_color_rgb": [ + 0.5293394526518126, + 0.6134550609016062, + 0.584250782101663 + ], + "floor_color_rgb": [ + 0.25357926144920984, + 0.2913166843513898, + 0.24566690022731627 + ], + "screen_color_rgb": [ + 0.358876969862271, + 0.7235749379896521, + 0.6831369311354663 + ], + "style": "wet_lab", + "wall_color_rgb": [ + 0.7443624100366241, + 0.7764288253164935, + 0.7540232919722758 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.92, + 0.92, + 0.9706425013925822 + ], + "light_intensity": 2292.6257081681692, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + 0.30903867825306885, + 0.10057221400794542, + 0.79 + ], + "rack_to_vortex_bearing_deg": -173.92160183032473, + "rack_to_vortex_distance_m": 0.49119469454128856, + "rack_yaw_deg": 36.46298240271376, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.0, + -0.034 + ], + "tube_return_position_m": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813 + }, + "liquid": { + "color_rgb": [ + 0.049402410562584514, + 0.236280230270309, + 0.3983821014144011 + ], + "effective_peak_level_fraction": 0.64230462539884, + "effective_vortex_level_rise_fraction": 0.2252225873758559, + "fill_fraction": 0.4170820380229841, + "opacity": 0.899808743260379, + "present": true, + "vortex_level_rise_fraction": 0.2252225873758559 + }, + "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": 142040000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000204", + "schema_version": 15, + "seed": 142040000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "516d0f5011520a247364562f2b20660ae5b51555f321117da4bc1a0a3b160c03", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.0, + -0.034 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "vortex", + "event_time_s": 8.443440321693426, + "is_failure": true, + "randomized_parameters": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.0027618954055708194, + "depart_pattern": "spiral", + "depart_sway_m": 0.0065803901108316435, + "handling_noise_amplitude_m": 0.012707615110135413, + "handling_noise_frequency_hz": 0.45334195589175647, + "handling_noise_phase_xyz_rad": [ + 3.5552832256949207, + 3.945318499859123, + 4.45682577604744 + ], + "lift_height_m": 0.06604028675234619, + "orientation_noise_deg": 0.8291894497316623, + "outbound_curve_bias": -0.593388613227589, + "outbound_pattern": "zigzag", + "phase_boundaries_s": { + "final_hold": [ + 16.381121908567124, + 17.65142238193548 + ], + "initial_hold": [ + 0.0, + 1.205341153380663 + ], + "lift_from_rack": [ + 1.205341153380663, + 3.3577275074423913 + ], + "lower_to_rack": [ + 15.251005331632818, + 16.381121908567124 + ], + "lower_to_vortex": [ + 5.682835970281313, + 6.6637551950695695 + ], + "raise_from_vortex": [ + 10.340607690467156, + 11.90083788566988 + ], + "transfer_to_rack": [ + 11.90083788566988, + 15.251005331632818 + ], + "transfer_to_vortex": [ + 3.3577275074423913, + 5.682835970281313 + ], + "vortex": [ + 6.6637551950695695, + 10.340607690467156 + ] + }, + "pick_line_azimuth_deg": -169.30801729727858, + "pick_line_tilt_deg": 5.767641785658787, + "pick_pattern": "hook", + "pick_sway_m": 0.0070270215725730676, + "put_pattern": "s_sway", + "put_sway_m": 0.005769174327765371, + "rack_put_height_m": 0.2863894901249742, + "return_bend_scale": 0.712949447803763, + "return_curve_bias": 0.2454492008509831, + "return_pattern": "zigzag", + "return_side": 1.0, + "return_vertical_arc_scale": 0.9933300880534004, + "transfer_bend_m": 0.20167749501737908, + "transfer_side": 1.0, + "transport_tilt_deg": 7.406054464053808, + "vertical_arc_m": 0.10928658776059971, + "vortex_apparent_frequency_hz": 4.704560476056109, + "vortex_approach_height_m": 0.18564321137223305, + "vortex_depart_height_m": 0.11713133063378167, + "vortex_frequency_hz": 25.29543952394389, + "vortex_phase_rad": 1.585731085539978, + "vortex_radius_m": 0.0006150602362853724, + "vortex_tilt_deg": 0.5994994702190793 + }, + "trajectory_validation": { + "duration_s": 17.65142238193548, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 4.355503409735122e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007451989621971916, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "vortex", + "phase_fraction": 0.48402407462674535, + "release_time_s": 8.443440321693426, + "target_surface": "vortex", + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "on_vortex_release", + "fall_distance_m": 0.19860976560236088, + "final_angular_speed_deg_s": 34.58818817138672, + "final_linear_speed_mps": 0.008060661144554615, + "final_position_m": [ + 0.018890369683504105, + 0.39087966084480286, + 0.8083624839782715 + ], + "final_protected_visual_minimum_z_m": 0.7902499839782715, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.00874924473464489, + "first_impact_position_m": [ + -0.12425287067890167, + 0.12161863595247269, + 1.007480502128601 + ], + "first_impact_surface": "table", + "first_impact_time_s": 8.45, + "minimum_required_fall_distance_m": 0.012, + "minimum_root_z_m": 0.8083623051643372, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "vortex", + "release_phase_fraction": 0.48402407462674535, + "release_position_m": [ + -0.12425304035055992, + 0.12161841588247277, + 1.006972070766698 + ], + "release_time_s": 8.443440321693426, + "support_clearance_m": 0.000249983978271473, + "support_surface_z_m": 0.79, + "target_surface": "vortex", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 46.4025079897516, + "vortex_release_offset_m": 0.03503412465324257, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + 0.3161765596334756, + 0.1481227203080811, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.32924499071293334, + 0.07322802016767421, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "7aef62577bc1c957c4e8669d8369e90d687412b5ec1c4a23ff261a1c56485ae6", + "video_validation": { + "actual_frame_count": 530, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 530, + "frame_count_valid": true, + "full_decode_frame_count": 530, + "max_changed_pixel_fraction": 0.0077265625, + "mean_luminance": 128.86865234375, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 353, + 441, + 529 + ], + "spatial_standard_deviation": 36.587486267089844, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.14833393061104583, + 0.09563656443690612, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.17939448899973376, + 0.04856001281528766, + 0.79 + ], + "vortex_yaw_deg": -33.41636162809813, + "wrong_orientation": { + "azimuth_deg": 60.268147995796795, + "mode": "tilted", + "tilt_deg_from_z": 42.15608130740466 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + -0.5925476913979283, + -0.040706608957933765, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 30.344531299611816, + "release_lateral_offset_m": 0.022232676641538322, + "release_phase_fraction": 0.7090945182995804, + "release_tilt_deg": 31.80903155774965, + "release_time_s": 16.05236480137642, + "slot_offset_xy": [ + -0.04, + 0.019 + ], + "tube_target_position": [ + -0.6367935584939093, + -0.038889125828771826, + 0.8500000000000001 + ], + "yaw_deg": 23.05550738772517 + } +} diff --git a/tube_drop/scene_000266/front.json b/tube_drop/scene_000266/front.json new file mode 100644 index 0000000000000000000000000000000000000000..3551428b6d032876bd74769755c5c6278e330e53 --- /dev/null +++ b/tube_drop/scene_000266/front.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ], + "duration_s": 14.970809784681899, + "episode_id": 266, + "error_type": "tube_drop", + "frame_count": 449, + "generation_success": true, + "light_color_rgb": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.6585411490468003, + "direction_azimuth_deg": -77.92293703936471, + "lateral_speed_mps": 0.06813215379640576, + "phase": "lift_from_rack", + "phase_fraction": 0.2759146333523095, + "release_clearance_m": 0.011874782696889026, + "release_tilt_deg": 109.57721661876414, + "stage": "pickup", + "tip_duration_s": 0.28505710792995326, + "trigger_time_s": 1.2540832172753411, + "tube_detach_fraction": 0.4557477606485232, + "tube_engagement_fraction": 0.6119434454048926, + "tube_on_rack": true, + "upward_speed_mps": 0.051070804679072934 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_yaw_deg": -39.060458466553975, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_to_vortex_bearing_deg": -19.74001332726739, + "rack_to_vortex_distance_m": 0.9841592399192777, + "rack_yaw_deg": -39.060458466553975, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633 + }, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "effective_peak_level_fraction": 0.6613604983677579, + "effective_vortex_level_rise_fraction": 0.22198085370062154, + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "present": true, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "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": 142660001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000266", + "schema_version": 15, + "seed": 142660001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "88ba25283bb0eb32618dc80aa7198f4e99e03ed7055f84835c202c6d4fe332b4", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.851545625072713, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + }, + "trajectory_validation": { + "duration_s": 14.970809784681899, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.8245304391402273e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007602279532372444, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "8e19c059c898446509ce240ec65ad61d82132ebf2989b7d1e3a563c7ef065ed2", + "video_validation": { + "actual_frame_count": 449, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 449, + "frame_count_valid": true, + "full_decode_frame_count": 449, + "max_changed_pixel_fraction": 0.010690104166666667, + "mean_luminance": 155.33494567871094, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 149, + 224, + 299, + 373, + 448 + ], + "spatial_standard_deviation": 31.834741592407227, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633, + "wrong_orientation": { + "azimuth_deg": 143.41607364162775, + "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": [ + -0.008409875403136424, + 0.29685855923719995, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -177.71676973235282, + "release_lateral_offset_m": 0.015384888424918527, + "release_phase_fraction": 0.7335362490443018, + "release_tilt_deg": 35.63088570574572, + "release_time_s": 13.88748136277106, + "slot_offset_xy": [ + -0.02, + 0.019 + ], + "tube_target_position": [ + -0.03597257396933361, + 0.29799770266493497, + 0.8500000000000001 + ], + "yaw_deg": 41.16455920281095 + } +} diff --git a/tube_drop/scene_000266/left.json b/tube_drop/scene_000266/left.json new file mode 100644 index 0000000000000000000000000000000000000000..9c5332c7edb0eb51d44ee919ada0b6b1e7f2d41a --- /dev/null +++ b/tube_drop/scene_000266/left.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ], + "duration_s": 14.970809784681899, + "episode_id": 266, + "error_type": "tube_drop", + "frame_count": 449, + "generation_success": true, + "light_color_rgb": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.6585411490468003, + "direction_azimuth_deg": -77.92293703936471, + "lateral_speed_mps": 0.06813215379640576, + "phase": "lift_from_rack", + "phase_fraction": 0.2759146333523095, + "release_clearance_m": 0.011874782696889026, + "release_tilt_deg": 109.57721661876414, + "stage": "pickup", + "tip_duration_s": 0.28505710792995326, + "trigger_time_s": 1.2540832172753411, + "tube_detach_fraction": 0.4557477606485232, + "tube_engagement_fraction": 0.6119434454048926, + "tube_on_rack": true, + "upward_speed_mps": 0.051070804679072934 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_yaw_deg": -39.060458466553975, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_to_vortex_bearing_deg": -19.74001332726739, + "rack_to_vortex_distance_m": 0.9841592399192777, + "rack_yaw_deg": -39.060458466553975, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633 + }, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "effective_peak_level_fraction": 0.6613604983677579, + "effective_vortex_level_rise_fraction": 0.22198085370062154, + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "present": true, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "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": 142660001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000266", + "schema_version": 15, + "seed": 142660001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "88ba25283bb0eb32618dc80aa7198f4e99e03ed7055f84835c202c6d4fe332b4", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.851545625072713, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + }, + "trajectory_validation": { + "duration_s": 14.970809784681899, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.8245304391402273e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007602279532372444, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "da9f4d428725de210864fdca2f853c472c4e8a6cc25f17fe065401928f795182", + "video_validation": { + "actual_frame_count": 449, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 449, + "frame_count_valid": true, + "full_decode_frame_count": 449, + "max_changed_pixel_fraction": 0.010145399305555556, + "mean_luminance": 154.30616760253906, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 149, + 224, + 299, + 373, + 448 + ], + "spatial_standard_deviation": 33.117149353027344, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633, + "wrong_orientation": { + "azimuth_deg": 143.41607364162775, + "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": [ + -0.008409875403136424, + 0.29685855923719995, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -177.71676973235282, + "release_lateral_offset_m": 0.015384888424918527, + "release_phase_fraction": 0.7335362490443018, + "release_tilt_deg": 35.63088570574572, + "release_time_s": 13.88748136277106, + "slot_offset_xy": [ + -0.02, + 0.019 + ], + "tube_target_position": [ + -0.03597257396933361, + 0.29799770266493497, + 0.8500000000000001 + ], + "yaw_deg": 41.16455920281095 + } +} diff --git a/tube_drop/scene_000266/metadata.json b/tube_drop/scene_000266/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dceae9bd8c6d99c6cb45cf4f50269ffddb95eb15 --- /dev/null +++ b/tube_drop/scene_000266/metadata.json @@ -0,0 +1,1164 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ], + "duration_s": 14.970809784681899, + "episode_id": 266, + "error_type": "tube_drop", + "frame_count": 449, + "generation_success": true, + "light_color_rgb": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.6585411490468003, + "direction_azimuth_deg": -77.92293703936471, + "lateral_speed_mps": 0.06813215379640576, + "phase": "lift_from_rack", + "phase_fraction": 0.2759146333523095, + "release_clearance_m": 0.011874782696889026, + "release_tilt_deg": 109.57721661876414, + "stage": "pickup", + "tip_duration_s": 0.28505710792995326, + "trigger_time_s": 1.2540832172753411, + "tube_detach_fraction": 0.4557477606485232, + "tube_engagement_fraction": 0.6119434454048926, + "tube_on_rack": true, + "upward_speed_mps": 0.051070804679072934 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_yaw_deg": -39.060458466553975, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_to_vortex_bearing_deg": -19.74001332726739, + "rack_to_vortex_distance_m": 0.9841592399192777, + "rack_yaw_deg": -39.060458466553975, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633 + }, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "effective_peak_level_fraction": 0.6613604983677579, + "effective_vortex_level_rise_fraction": 0.22198085370062154, + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "present": true, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "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": 142660001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + } + }, + "render_and_primary_validation_seconds": 171.9789518530015, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000266", + "schema_version": 15, + "seed": 142660001, + "shared_state_sha256": "88ba25283bb0eb32618dc80aa7198f4e99e03ed7055f84835c202c6d4fe332b4", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.851545625072713, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + }, + "trajectory_validation": { + "duration_s": 14.970809784681899, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.8245304391402273e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007602279532372444, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 449, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 449, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.010145399305555556, + "mean_luminance": 154.30616760253906, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 149, + 224, + 299, + 373, + 448 + ], + "spatial_standard_deviation": 33.117149353027344, + "valid": true + }, + "views": { + "front": { + "bytes": 17285459, + "metadata": "front.json", + "sha256": "8e19c059c898446509ce240ec65ad61d82132ebf2989b7d1e3a563c7ef065ed2", + "video": "front.mp4" + }, + "left": { + "bytes": 17588250, + "metadata": "left.json", + "sha256": "da9f4d428725de210864fdca2f853c472c4e8a6cc25f17fe065401928f795182", + "video": "left.mp4" + }, + "right": { + "bytes": 17373415, + "metadata": "right.json", + "sha256": "8ca8e69df13b9d751511829e1bea88d768718fead6f48e932a075c6900bd4696", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633, + "worker_elapsed_seconds": 190.98857320891693, + "wrong_orientation": { + "azimuth_deg": 143.41607364162775, + "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": [ + -0.008409875403136424, + 0.29685855923719995, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -177.71676973235282, + "release_lateral_offset_m": 0.015384888424918527, + "release_phase_fraction": 0.7335362490443018, + "release_tilt_deg": 35.63088570574572, + "release_time_s": 13.88748136277106, + "slot_offset_xy": [ + -0.02, + 0.019 + ], + "tube_target_position": [ + -0.03597257396933361, + 0.29799770266493497, + 0.8500000000000001 + ], + "yaw_deg": 41.16455920281095 + } +} diff --git a/tube_drop/scene_000266/right.json b/tube_drop/scene_000266/right.json new file mode 100644 index 0000000000000000000000000000000000000000..f11439ab09d26dbd66e2c4541563526d9b19e48a --- /dev/null +++ b/tube_drop/scene_000266/right.json @@ -0,0 +1,1089 @@ +{ + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ], + "duration_s": 14.970809784681899, + "episode_id": 266, + "error_type": "tube_drop", + "frame_count": 449, + "generation_success": true, + "light_color_rgb": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.6585411490468003, + "direction_azimuth_deg": -77.92293703936471, + "lateral_speed_mps": 0.06813215379640576, + "phase": "lift_from_rack", + "phase_fraction": 0.2759146333523095, + "release_clearance_m": 0.011874782696889026, + "release_tilt_deg": 109.57721661876414, + "stage": "pickup", + "tip_duration_s": 0.28505710792995326, + "trigger_time_s": 1.2540832172753411, + "tube_detach_fraction": 0.4557477606485232, + "tube_engagement_fraction": 0.6119434454048926, + "tube_on_rack": true, + "upward_speed_mps": 0.051070804679072934 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_yaw_deg": -39.060458466553975, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "TR-005", + "pitch_deg": 0.0, + "position": [ + -0.21902276933564413, + 1.1660603671622167, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9050702149125166, + "yaw_deg": -24.94515823374391 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + -0.8530831354682282, + 1.1289608749939686, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9996427101693135, + "yaw_deg": -167.51505580789285 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + 0.2835874767813432, + -0.1781194819751331, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1268368019004185, + "yaw_deg": 121.10781940742118 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + 0.5649564694989422, + 1.051902994618419, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.018456250137014, + "yaw_deg": -77.26914401021553 + }, + { + "asset_id": "SBI-005", + "pitch_deg": 0.0, + "position": [ + 0.015429301596024958, + 0.0753699294589254, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8481711260680365, + "yaw_deg": -67.22843396353521 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + -0.7414197737697991, + 1.306923338795388, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8523278678479781, + "yaw_deg": -126.21908016046285 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5623808220546006, + 1.1648453920060564, + 0.8409484856755887 + ], + "roll_deg": 86.41704668155018, + "surface": "rear_bench", + "uniform_scale": 1.148185239075683, + "yaw_deg": -89.55280182194251 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + 0.19570404685032505, + 0.163353058966958, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0409335182342025, + "yaw_deg": -140.04870383964374 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -87.84337961015304, + "position": [ + -0.006023943513834618, + 1.0676301226601699, + 0.8561292034731481 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9169661349963563, + "yaw_deg": 129.1897711901592 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.24395378921333521, + 0.5191041376354987, + 0.6905374834382971 + ], + "cabinet_color_rgb": [ + 0.7508195288843535, + 0.8007191160118119, + 0.7916025861830472 + ], + "floor_color_rgb": [ + 0.2680480083474168, + 0.33068548472667636, + 0.4062826266511511 + ], + "screen_color_rgb": [ + 0.5025658120318368, + 0.8000135056814021, + 0.883392460757835 + ], + "style": "clean_room", + "wall_color_rgb": [ + 0.824569311082986, + 0.8608454671074317, + 0.8408266223660944 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9472942325392761, + 0.92, + 0.92 + ], + "light_intensity": 2209.155834489759, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ] + }, + "layout": { + "rack_position_m": [ + -0.3908067419052933, + 0.2741343641101997, + 0.79 + ], + "rack_to_vortex_bearing_deg": -19.74001332726739, + "rack_to_vortex_distance_m": 0.9841592399192777, + "rack_yaw_deg": -39.060458466553975, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + -0.068, + 0.0 + ], + "tube_return_position_m": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_position_m": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633 + }, + "liquid": { + "color_rgb": [ + 0.06424556057982034, + 0.2717302073420438, + 0.3570167984689225 + ], + "effective_peak_level_fraction": 0.6613604983677579, + "effective_vortex_level_rise_fraction": 0.22198085370062154, + "fill_fraction": 0.4393796446671363, + "opacity": 0.8617317051935809, + "present": true, + "vortex_level_rise_fraction": 0.22198085370062154 + }, + "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": 142660001, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000266", + "schema_version": 15, + "seed": 142660001, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "88ba25283bb0eb32618dc80aa7198f4e99e03ed7055f84835c202c6d4fe332b4", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.068, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.851545625072713, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.5, + 0.46, + 0.38 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.009858050040950805, + "depart_pattern": "spiral", + "depart_sway_m": 0.009768523845393222, + "handling_noise_amplitude_m": 0.01432165399020829, + "handling_noise_frequency_hz": 2.1521367055632443, + "handling_noise_phase_xyz_rad": [ + 4.225638479607016, + 2.7314092400267427, + 3.7365997256336483 + ], + "lift_height_m": 0.10175757396921786, + "orientation_noise_deg": 6.15038953206248, + "outbound_curve_bias": 0.6044840588388216, + "outbound_pattern": "wide_detour", + "phase_boundaries_s": { + "final_hold": [ + 14.230641388831723, + 14.970809784681899 + ], + "initial_hold": [ + 0.0, + 0.8340166683337449 + ], + "lift_from_rack": [ + 0.8340166683337449, + 2.3564678114205355 + ], + "lower_to_rack": [ + 12.94281133754, + 14.230641388831723 + ], + "lower_to_vortex": [ + 4.893857266001679, + 6.443540593120847 + ], + "raise_from_vortex": [ + 9.473347401394985, + 10.725162262332969 + ], + "transfer_to_rack": [ + 10.725162262332969, + 12.94281133754 + ], + "transfer_to_vortex": [ + 2.3564678114205355, + 4.893857266001679 + ], + "vortex": [ + 6.443540593120847, + 9.473347401394985 + ] + }, + "pick_line_azimuth_deg": -142.82476143581573, + "pick_line_tilt_deg": 7.05493735841734, + "pick_pattern": "hook", + "pick_sway_m": 0.006576612659955409, + "put_pattern": "spiral", + "put_sway_m": -0.0033932421268818604, + "rack_put_height_m": 0.1966230251223574, + "return_bend_scale": 1.1196133346407902, + "return_curve_bias": 0.06813530247916899, + "return_pattern": "s_curve", + "return_side": -1.0, + "return_vertical_arc_scale": 0.5939253938394946, + "transfer_bend_m": 0.25518424996703093, + "transfer_side": 1.0, + "transport_tilt_deg": 9.703025771058723, + "vertical_arc_m": 0.24640545310938303, + "vortex_apparent_frequency_hz": 4.616756914294328, + "vortex_approach_height_m": 0.3351041857939832, + "vortex_depart_height_m": 0.3337063815046803, + "vortex_frequency_hz": 34.61675691429433, + "vortex_phase_rad": 5.942891044636535, + "vortex_radius_m": 0.0005728793425459301, + "vortex_tilt_deg": 0.424437570068115 + }, + "trajectory_validation": { + "duration_s": 14.970809784681899, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 2.8245304391402273e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.007602279532372444, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.507917765408664, + "release_time_s": 11.851545625072713, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.4283960442362311, + "final_angular_speed_deg_s": 0.2792362868785858, + "final_linear_speed_mps": 7.053780427668244e-05, + "final_position_m": [ + 0.08052028715610504, + 0.12105117738246918, + 0.8085986971855164 + ], + "final_protected_visual_minimum_z_m": 0.790249947185523, + "final_surface": "table", + "first_impact_linear_speed_mps": 2.7062957286834717, + "first_impact_position_m": [ + 0.08671506494283676, + 0.09608342498540878, + 0.7911351323127747 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.15, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7911351323127747, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.507917765408664, + "release_position_m": [ + 0.0867150612200701, + 0.09608342852116679, + 1.2195311765490058 + ], + "release_time_s": 11.851545625072713, + "support_clearance_m": 0.00024994718552295847, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.3429816090385303, + 0.27910997123661824, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.4436074818984748, + 0.31698388985054415, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "8ca8e69df13b9d751511829e1bea88d768718fead6f48e932a075c6900bd4696", + "video_validation": { + "actual_frame_count": 449, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 449, + "frame_count_valid": true, + "full_decode_frame_count": 449, + "max_changed_pixel_fraction": 0.008607204861111111, + "mean_luminance": 145.22885131835938, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 149, + 224, + 299, + 373, + 448 + ], + "spatial_standard_deviation": 33.1729850769043, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.5477605296483166, + -0.03257315261707726, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + 0.535518281816548, + -0.05826804253755674, + 0.79 + ], + "vortex_yaw_deg": -44.54685743984633, + "wrong_orientation": { + "azimuth_deg": 143.41607364162775, + "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": [ + -0.008409875403136424, + 0.29685855923719995, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -177.71676973235282, + "release_lateral_offset_m": 0.015384888424918527, + "release_phase_fraction": 0.7335362490443018, + "release_tilt_deg": 35.63088570574572, + "release_time_s": 13.88748136277106, + "slot_offset_xy": [ + -0.02, + 0.019 + ], + "tube_target_position": [ + -0.03597257396933361, + 0.29799770266493497, + 0.8500000000000001 + ], + "yaw_deg": 41.16455920281095 + } +} diff --git a/tube_drop/scene_000269/front.json b/tube_drop/scene_000269/front.json new file mode 100644 index 0000000000000000000000000000000000000000..e38325ff6fee2feefc4570284758c8f730552845 --- /dev/null +++ b/tube_drop/scene_000269/front.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ], + "duration_s": 16.46859512574822, + "episode_id": 269, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4329733037094874, + "direction_azimuth_deg": 150.14485553963374, + "lateral_speed_mps": 0.061072930219815455, + "phase": "lift_from_rack", + "phase_fraction": 0.2774743417458776, + "release_clearance_m": 0.005357703916408546, + "release_tilt_deg": 133.32886576916582, + "stage": "pickup", + "tip_duration_s": 0.3752427717218906, + "trigger_time_s": 1.2055467535603097, + "tube_detach_fraction": 0.5031409416197641, + "tube_engagement_fraction": 0.6746206657634918, + "tube_on_rack": true, + "upward_speed_mps": 0.04532326576406767 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_yaw_deg": 51.68897833844116, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_to_vortex_bearing_deg": 102.13431965594586, + "rack_to_vortex_distance_m": 0.48780135173330014, + "rack_yaw_deg": 51.68897833844116, + "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": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position_m": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084 + }, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "effective_peak_level_fraction": 0.6083121467408702, + "effective_vortex_level_rise_fraction": 0.1826173535473528, + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "present": true, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "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": 142690000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000269", + "schema_version": 15, + "seed": 142690000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "afb3da411205ae76ee25dd691580cf2b96509362351f99b00a97c006627a9a9a", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.641069774463121, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + }, + "trajectory_validation": { + "duration_s": 16.46859512574822, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.0594488999422677e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003113723674263543, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "video": "front.mp4", + "video_sha256": "20282117446effe69e336ad1dc75893dec22ba0293fac3ad1c74799bf9fda28f", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "full_decode_frame_count": 494, + "max_changed_pixel_fraction": 0.008689236111111111, + "mean_luminance": 144.6609649658203, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 38.29611587524414, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084, + "wrong_orientation": { + "azimuth_deg": -146.128082218931, + "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": [ + 0.6280214023034117, + -0.1029110414551695, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 5.33873251141361, + "release_lateral_offset_m": 0.02349277531599627, + "release_phase_fraction": 0.6546604617684523, + "release_tilt_deg": 23.779170253987616, + "release_time_s": 14.804073641569074, + "slot_offset_xy": [ + 0.04, + -0.019 + ], + "tube_target_position": [ + 0.6666968874506691, + -0.08134238714795144, + 0.8500000000000001 + ], + "yaw_deg": 54.555376085161214 + } +} diff --git a/tube_drop/scene_000269/left.json b/tube_drop/scene_000269/left.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ad7d600b7d7fde080e97ca41010b0c48f94fa5 --- /dev/null +++ b/tube_drop/scene_000269/left.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ], + "duration_s": 16.46859512574822, + "episode_id": 269, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4329733037094874, + "direction_azimuth_deg": 150.14485553963374, + "lateral_speed_mps": 0.061072930219815455, + "phase": "lift_from_rack", + "phase_fraction": 0.2774743417458776, + "release_clearance_m": 0.005357703916408546, + "release_tilt_deg": 133.32886576916582, + "stage": "pickup", + "tip_duration_s": 0.3752427717218906, + "trigger_time_s": 1.2055467535603097, + "tube_detach_fraction": 0.5031409416197641, + "tube_engagement_fraction": 0.6746206657634918, + "tube_on_rack": true, + "upward_speed_mps": 0.04532326576406767 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_yaw_deg": 51.68897833844116, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_to_vortex_bearing_deg": 102.13431965594586, + "rack_to_vortex_distance_m": 0.48780135173330014, + "rack_yaw_deg": 51.68897833844116, + "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": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position_m": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084 + }, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "effective_peak_level_fraction": 0.6083121467408702, + "effective_vortex_level_rise_fraction": 0.1826173535473528, + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "present": true, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "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": 142690000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000269", + "schema_version": 15, + "seed": 142690000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "afb3da411205ae76ee25dd691580cf2b96509362351f99b00a97c006627a9a9a", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.641069774463121, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + }, + "trajectory_validation": { + "duration_s": 16.46859512574822, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.0594488999422677e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003113723674263543, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "video": "left.mp4", + "video_sha256": "9cb3ef706878e4d6b44ae613ea46d33374320c0bf7600489f23f7cfc48cc1e4f", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "full_decode_frame_count": 494, + "max_changed_pixel_fraction": 0.008424045138888888, + "mean_luminance": 145.15267944335938, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 38.83234405517578, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084, + "wrong_orientation": { + "azimuth_deg": -146.128082218931, + "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": [ + 0.6280214023034117, + -0.1029110414551695, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 5.33873251141361, + "release_lateral_offset_m": 0.02349277531599627, + "release_phase_fraction": 0.6546604617684523, + "release_tilt_deg": 23.779170253987616, + "release_time_s": 14.804073641569074, + "slot_offset_xy": [ + 0.04, + -0.019 + ], + "tube_target_position": [ + 0.6666968874506691, + -0.08134238714795144, + 0.8500000000000001 + ], + "yaw_deg": 54.555376085161214 + } +} diff --git a/tube_drop/scene_000269/metadata.json b/tube_drop/scene_000269/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b07d601792e1d02012cb45cd401e76e39f63ce8c --- /dev/null +++ b/tube_drop/scene_000269/metadata.json @@ -0,0 +1,1192 @@ +{ + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ], + "duration_s": 16.46859512574822, + "episode_id": 269, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.4329733037094874, + "direction_azimuth_deg": 150.14485553963374, + "lateral_speed_mps": 0.061072930219815455, + "phase": "lift_from_rack", + "phase_fraction": 0.2774743417458776, + "release_clearance_m": 0.005357703916408546, + "release_tilt_deg": 133.32886576916582, + "stage": "pickup", + "tip_duration_s": 0.3752427717218906, + "trigger_time_s": 1.2055467535603097, + "tube_detach_fraction": 0.5031409416197641, + "tube_engagement_fraction": 0.6746206657634918, + "tube_on_rack": true, + "upward_speed_mps": 0.04532326576406767 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_yaw_deg": 51.68897833844116, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_to_vortex_bearing_deg": 102.13431965594586, + "rack_to_vortex_distance_m": 0.48780135173330014, + "rack_yaw_deg": 51.68897833844116, + "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": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position_m": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084 + }, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "effective_peak_level_fraction": 0.6083121467408702, + "effective_vortex_level_rise_fraction": 0.1826173535473528, + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "present": true, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "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": 142690000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + } + }, + "render_and_primary_validation_seconds": 341.9210987200495, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000269", + "schema_version": 15, + "seed": 142690000, + "shared_state_sha256": "afb3da411205ae76ee25dd691580cf2b96509362351f99b00a97c006627a9a9a", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.641069774463121, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + }, + "trajectory_validation": { + "duration_s": 16.46859512574822, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.0594488999422677e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003113723674263543, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.008424045138888888, + "mean_luminance": 145.15267944335938, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 38.83234405517578, + "valid": true + }, + "views": { + "front": { + "bytes": 20512873, + "metadata": "front.json", + "sha256": "20282117446effe69e336ad1dc75893dec22ba0293fac3ad1c74799bf9fda28f", + "video": "front.mp4" + }, + "left": { + "bytes": 19070747, + "metadata": "left.json", + "sha256": "9cb3ef706878e4d6b44ae613ea46d33374320c0bf7600489f23f7cfc48cc1e4f", + "video": "left.mp4" + }, + "right": { + "bytes": 20470243, + "metadata": "right.json", + "sha256": "afe6d6e02b322e7e058de338ec6df6bda8322b59a4b6a7a5ba265a4a1fe2d748", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084, + "worker_elapsed_seconds": 364.2077684139367, + "wrong_orientation": { + "azimuth_deg": -146.128082218931, + "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": [ + 0.6280214023034117, + -0.1029110414551695, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 5.33873251141361, + "release_lateral_offset_m": 0.02349277531599627, + "release_phase_fraction": 0.6546604617684523, + "release_tilt_deg": 23.779170253987616, + "release_time_s": 14.804073641569074, + "slot_offset_xy": [ + 0.04, + -0.019 + ], + "tube_target_position": [ + 0.6666968874506691, + -0.08134238714795144, + 0.8500000000000001 + ], + "yaw_deg": 54.555376085161214 + } +} diff --git a/tube_drop/scene_000269/right.json b/tube_drop/scene_000269/right.json new file mode 100644 index 0000000000000000000000000000000000000000..4efce5e0c8f9c0987faa43cce1262c772028064f --- /dev/null +++ b/tube_drop/scene_000269/right.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ], + "duration_s": 16.46859512574822, + "episode_id": 269, + "error_type": "tube_drop", + "frame_count": 494, + "generation_success": true, + "light_color_rgb": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.4329733037094874, + "direction_azimuth_deg": 150.14485553963374, + "lateral_speed_mps": 0.061072930219815455, + "phase": "lift_from_rack", + "phase_fraction": 0.2774743417458776, + "release_clearance_m": 0.005357703916408546, + "release_tilt_deg": 133.32886576916582, + "stage": "pickup", + "tip_duration_s": 0.3752427717218906, + "trigger_time_s": 1.2055467535603097, + "tube_detach_fraction": 0.5031409416197641, + "tube_engagement_fraction": 0.6746206657634918, + "tube_on_rack": true, + "upward_speed_mps": 0.04532326576406767 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_yaw_deg": 51.68897833844116, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-005", + "vortex_id": "VTX-002" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "TIP-006", + "pitch_deg": 0.0, + "position": [ + 0.23554446717696143, + 0.13796865876816217, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9393311800983152, + "yaw_deg": 107.47780433095397 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.44457952239235776, + -0.2654006373015432, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9545316827088594, + "yaw_deg": -149.9647328661096 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.5858339014081133, + 0.3893438729730591, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8459356899155589, + "yaw_deg": 127.8276241610036 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + -0.1785411613057971, + 1.0999873450527915, + 0.8562830563074297 + ], + "roll_deg": 87.17977877122814, + "surface": "rear_bench", + "uniform_scale": 1.0071506370089736, + "yaw_deg": -55.470548706490376 + }, + { + "asset_id": "TR-008", + "pitch_deg": 0.0, + "position": [ + -0.6789228112554582, + 1.0742784136763985, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8807304380527355, + "yaw_deg": -73.05598916389582 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + -0.4819453664478567, + -0.2716898200680767, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8384949475536702, + "yaw_deg": 84.20883278122272 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.5533365529226492, + 1.1167805209726347, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.1711936047225506, + "yaw_deg": 154.330382321424 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.23483713323208766, + 1.1471930781101998, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9732990115573547, + "yaw_deg": 161.49215890046327 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + -0.7234541848370739, + -0.3689736008643161, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.162000734144071, + "yaw_deg": 92.39976579897615 + }, + { + "asset_id": "TIP-008", + "pitch_deg": 0.0, + "position": [ + 0.07008853034917828, + 0.31857373829965974, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1408579902403373, + "yaw_deg": 8.864085191421509 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.802397232223029, + 0.6939029464019842, + 0.18617865609088413 + ], + "cabinet_color_rgb": [ + 0.5980175218768458, + 0.6906601278397805, + 0.6845545947342738 + ], + "floor_color_rgb": [ + 0.2991812191950569, + 0.2776458277538066, + 0.36680805366726976 + ], + "screen_color_rgb": [ + 0.31032534905424897, + 0.69984912910554, + 0.8216651624081983 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.6759399614136539, + 0.8596700751828527, + 0.7716079167300086 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9785110381373259, + 0.92, + 0.92 + ], + "light_intensity": 1938.2024095873703, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ] + }, + "layout": { + "rack_position_m": [ + -0.17226718298596405, + -0.26324950250425383, + 0.79 + ], + "rack_to_vortex_bearing_deg": 102.13431965594586, + "rack_to_vortex_distance_m": 0.48780135173330014, + "rack_yaw_deg": 51.68897833844116, + "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": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position_m": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "vortex_contact_position_m": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_position_m": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084 + }, + "liquid": { + "color_rgb": [ + 0.3931754451779388, + 0.2075316052902032, + 0.020778397752658523 + ], + "effective_peak_level_fraction": 0.6083121467408702, + "effective_vortex_level_rise_fraction": 0.1826173535473528, + "fill_fraction": 0.4256947931935174, + "opacity": 0.9336020849869664, + "present": true, + "vortex_level_rise_fraction": 0.1826173535473528 + }, + "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": 142690000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.025, + 0.0 + ], + "scene_id": "tube_drop/scene_000269", + "schema_version": 15, + "seed": 142690000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "afb3da411205ae76ee25dd691580cf2b96509362351f99b00a97c006627a9a9a", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + -0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.641069774463121, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.16, + 0.42, + 0.46 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": -0.011126072747425785, + "depart_pattern": "lean", + "depart_sway_m": -0.007183298093809017, + "handling_noise_amplitude_m": 0.009161487606151885, + "handling_noise_frequency_hz": 2.415894530469913, + "handling_noise_phase_xyz_rad": [ + 0.12174351100490563, + 4.471148201237571, + 0.3674638691279814 + ], + "lift_height_m": 0.16319090140075238, + "orientation_noise_deg": 1.1609308069413484, + "outbound_curve_bias": -0.6999879711492373, + "outbound_pattern": "crescent", + "phase_boundaries_s": { + "final_hold": [ + 15.170310753062296, + 16.46859512574822 + ], + "initial_hold": [ + 0.0, + 0.933265580769371 + ], + "lift_from_rack": [ + 0.933265580769371, + 1.9145497279007302 + ], + "lower_to_rack": [ + 14.109797632066398, + 15.170310753062296 + ], + "lower_to_vortex": [ + 4.284725878000764, + 5.790965840667812 + ], + "raise_from_vortex": [ + 9.47896218912315, + 10.598991388067375 + ], + "transfer_to_rack": [ + 10.598991388067375, + 14.109797632066398 + ], + "transfer_to_vortex": [ + 1.9145497279007302, + 4.284725878000764 + ], + "vortex": [ + 5.790965840667812, + 9.47896218912315 + ] + }, + "pick_line_azimuth_deg": 135.58503045661195, + "pick_line_tilt_deg": 9.648602239762514, + "pick_pattern": "spiral", + "pick_sway_m": -0.0036380871889442066, + "put_pattern": "s_sway", + "put_sway_m": 0.009231170075079268, + "rack_put_height_m": 0.21064909012030236, + "return_bend_scale": 1.0295065035337922, + "return_curve_bias": 0.41795992489875067, + "return_pattern": "late_swoop", + "return_side": 1.0, + "return_vertical_arc_scale": 1.5233000663311302, + "transfer_bend_m": 0.2828330896672887, + "transfer_side": -1.0, + "transport_tilt_deg": 6.667051609802604, + "vertical_arc_m": 0.2718743571470588, + "vortex_apparent_frequency_hz": 5.494132838767637, + "vortex_approach_height_m": 0.08512007302453797, + "vortex_depart_height_m": 0.1504052513974467, + "vortex_frequency_hz": 24.505867161232363, + "vortex_phase_rad": 2.849596471154973, + "vortex_radius_m": 0.0006718351275091104, + "vortex_tilt_deg": 0.2455318776532577 + }, + "trajectory_validation": { + "duration_s": 16.46859512574822, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.0594488999422677e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003113723674263543, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.29682024981496963, + "release_time_s": 11.641069774463121, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.27235429351729734, + "final_angular_speed_deg_s": 0.9522303342819214, + "final_linear_speed_mps": 0.001981293549761176, + "final_position_m": [ + -0.07312404364347458, + 0.044910985976457596, + 0.9402501583099365 + ], + "final_protected_visual_minimum_z_m": 0.7902496378162187, + "final_surface": "table", + "first_impact_body": "vortex", + "first_impact_linear_speed_mps": 0.26020583510398865, + "first_impact_position_m": [ + -0.21790950000286102, + 0.0967574194073677, + 0.9683012962341309 + ], + "first_impact_surface": "table", + "first_impact_time_s": 11.858333333333333, + "minimum_required_fall_distance_m": 0.0525, + "minimum_root_z_m": 0.9279014468193054, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.29682024981496963, + "release_position_m": [ + -0.21795188742677363, + 0.0967720752558975, + 1.2002557403366028 + ], + "release_time_s": 11.641069774463121, + "support_clearance_m": 0.000249637816218673, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_id": "CT-005", + "tube_return_position": [ + -0.15676893340418718, + -0.24363307418763736, + 0.8394 + ], + "tube_start_position": [ + -0.21876193173129468, + -0.32209878745410325, + 0.8394 + ], + "video": "right.mp4", + "video_sha256": "afe6d6e02b322e7e058de338ec6df6bda8322b59a4b6a7a5ba265a4a1fe2d748", + "video_validation": { + "actual_frame_count": 494, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 494, + "frame_count_valid": true, + "full_decode_frame_count": 494, + "max_changed_pixel_fraction": 0.008082899305555556, + "mean_luminance": 137.3178253173828, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 82, + 164, + 246, + 329, + 411, + 493 + ], + "spatial_standard_deviation": 36.336910247802734, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.30160751094271265, + 0.2232307107089279, + 0.9790000000000001 + ], + "vortex_id": "VTX-002", + "vortex_position": [ + -0.2748050800896365, + 0.21365314836947685, + 0.79 + ], + "vortex_yaw_deg": 51.264651174639084, + "wrong_orientation": { + "azimuth_deg": -146.128082218931, + "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": [ + 0.6280214023034117, + -0.1029110414551695, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 5.33873251141361, + "release_lateral_offset_m": 0.02349277531599627, + "release_phase_fraction": 0.6546604617684523, + "release_tilt_deg": 23.779170253987616, + "release_time_s": 14.804073641569074, + "slot_offset_xy": [ + 0.04, + -0.019 + ], + "tube_target_position": [ + 0.6666968874506691, + -0.08134238714795144, + 0.8500000000000001 + ], + "yaw_deg": 54.555376085161214 + } +} diff --git a/tube_drop/scene_000274/front.json b/tube_drop/scene_000274/front.json new file mode 100644 index 0000000000000000000000000000000000000000..2c2bc9a29a04e53e928a65a768fd4445e96a6d72 --- /dev/null +++ b/tube_drop/scene_000274/front.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ], + "duration_s": 16.83059364721988, + "episode_id": 274, + "error_type": "tube_drop", + "frame_count": 505, + "generation_success": true, + "light_color_rgb": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.0525641438024618, + "direction_azimuth_deg": -130.4873636847427, + "lateral_speed_mps": 0.027632544919885427, + "phase": "lower_to_rack", + "phase_fraction": 0.8125974022528641, + "release_clearance_m": 0.008856777680800046, + "release_tilt_deg": 109.50333485102249, + "stage": "insertion", + "tip_duration_s": 0.44101912216322237, + "trigger_time_s": 15.949649259880442, + "tube_detach_fraction": 0.600670241185214, + "tube_engagement_fraction": 0.5910566563970516, + "tube_on_rack": true, + "upward_speed_mps": 0.08428878908790279 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_yaw_deg": -47.59829916115336, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_to_vortex_bearing_deg": -161.6425896063032, + "rack_to_vortex_distance_m": 0.5152990874385157, + "rack_yaw_deg": -47.59829916115336, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.068, + -0.068 + ], + "tube_return_position_m": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_position_m": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267 + }, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "effective_peak_level_fraction": 0.7549126021190524, + "effective_vortex_level_rise_fraction": 0.21983973323475542, + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "present": true, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "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": 142740000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000274", + "schema_version": 15, + "seed": 142740000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "a59d829a277389ea46842ef37028a873c330f50a5483d61a368e5864d1d31ff8", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + -0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.8391155106714945, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + }, + "trajectory_validation": { + "duration_s": 16.83059364721988, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.4786846404365025e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003689199191968003, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "7f39cfcbdb63c1da50568897dce7c7852c52ef0ceade2afd1cc9ee6677d70c97", + "video_validation": { + "actual_frame_count": 505, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 505, + "frame_count_valid": true, + "full_decode_frame_count": 505, + "max_changed_pixel_fraction": 0.0099296875, + "mean_luminance": 147.9665069580078, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 336, + 420, + 504 + ], + "spatial_standard_deviation": 36.10577392578125, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267, + "wrong_orientation": { + "azimuth_deg": 29.47485015345063, + "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": [ + 0.48749218607898015, + 0.053266072636462714, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 115.29274337076532, + "release_lateral_offset_m": 0.020514653684103188, + "release_phase_fraction": 0.719222066622597, + "release_tilt_deg": 27.220093991705145, + "release_time_s": 15.88038469926542, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.4619465770936547, + 0.0428534907487242, + 0.8500000000000001 + ], + "yaw_deg": -21.355021548809532 + } +} diff --git a/tube_drop/scene_000274/left.json b/tube_drop/scene_000274/left.json new file mode 100644 index 0000000000000000000000000000000000000000..812489c25ef426d4cba4174f955a5ec322731ce0 --- /dev/null +++ b/tube_drop/scene_000274/left.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ], + "duration_s": 16.83059364721988, + "episode_id": 274, + "error_type": "tube_drop", + "frame_count": 505, + "generation_success": true, + "light_color_rgb": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.0525641438024618, + "direction_azimuth_deg": -130.4873636847427, + "lateral_speed_mps": 0.027632544919885427, + "phase": "lower_to_rack", + "phase_fraction": 0.8125974022528641, + "release_clearance_m": 0.008856777680800046, + "release_tilt_deg": 109.50333485102249, + "stage": "insertion", + "tip_duration_s": 0.44101912216322237, + "trigger_time_s": 15.949649259880442, + "tube_detach_fraction": 0.600670241185214, + "tube_engagement_fraction": 0.5910566563970516, + "tube_on_rack": true, + "upward_speed_mps": 0.08428878908790279 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_yaw_deg": -47.59829916115336, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_to_vortex_bearing_deg": -161.6425896063032, + "rack_to_vortex_distance_m": 0.5152990874385157, + "rack_yaw_deg": -47.59829916115336, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.068, + -0.068 + ], + "tube_return_position_m": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_position_m": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267 + }, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "effective_peak_level_fraction": 0.7549126021190524, + "effective_vortex_level_rise_fraction": 0.21983973323475542, + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "present": true, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "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": 142740000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000274", + "schema_version": 15, + "seed": 142740000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "a59d829a277389ea46842ef37028a873c330f50a5483d61a368e5864d1d31ff8", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + -0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.8391155106714945, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + }, + "trajectory_validation": { + "duration_s": 16.83059364721988, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.4786846404365025e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003689199191968003, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "50283ee47ff54d42fb96e9cc71c5d48cb334d5fda84ab929f1cc0337bb6356b3", + "video_validation": { + "actual_frame_count": 505, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 505, + "frame_count_valid": true, + "full_decode_frame_count": 505, + "max_changed_pixel_fraction": 0.009983940972222223, + "mean_luminance": 147.3993682861328, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 336, + 420, + 504 + ], + "spatial_standard_deviation": 38.03390121459961, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267, + "wrong_orientation": { + "azimuth_deg": 29.47485015345063, + "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": [ + 0.48749218607898015, + 0.053266072636462714, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 115.29274337076532, + "release_lateral_offset_m": 0.020514653684103188, + "release_phase_fraction": 0.719222066622597, + "release_tilt_deg": 27.220093991705145, + "release_time_s": 15.88038469926542, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.4619465770936547, + 0.0428534907487242, + 0.8500000000000001 + ], + "yaw_deg": -21.355021548809532 + } +} diff --git a/tube_drop/scene_000274/metadata.json b/tube_drop/scene_000274/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3b9071992aebf5bf45f4ac7c58f157723af14d25 --- /dev/null +++ b/tube_drop/scene_000274/metadata.json @@ -0,0 +1,1166 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ], + "duration_s": 16.83059364721988, + "episode_id": 274, + "error_type": "tube_drop", + "frame_count": 505, + "generation_success": true, + "light_color_rgb": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.0525641438024618, + "direction_azimuth_deg": -130.4873636847427, + "lateral_speed_mps": 0.027632544919885427, + "phase": "lower_to_rack", + "phase_fraction": 0.8125974022528641, + "release_clearance_m": 0.008856777680800046, + "release_tilt_deg": 109.50333485102249, + "stage": "insertion", + "tip_duration_s": 0.44101912216322237, + "trigger_time_s": 15.949649259880442, + "tube_detach_fraction": 0.600670241185214, + "tube_engagement_fraction": 0.5910566563970516, + "tube_on_rack": true, + "upward_speed_mps": 0.08428878908790279 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_yaw_deg": -47.59829916115336, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_to_vortex_bearing_deg": -161.6425896063032, + "rack_to_vortex_distance_m": 0.5152990874385157, + "rack_yaw_deg": -47.59829916115336, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.068, + -0.068 + ], + "tube_return_position_m": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_position_m": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267 + }, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "effective_peak_level_fraction": 0.7549126021190524, + "effective_vortex_level_rise_fraction": 0.21983973323475542, + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "present": true, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "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": 142740000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + } + }, + "render_and_primary_validation_seconds": 129.5874177860096, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000274", + "schema_version": 15, + "seed": 142740000, + "shared_state_sha256": "a59d829a277389ea46842ef37028a873c330f50a5483d61a368e5864d1d31ff8", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + -0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.8391155106714945, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + }, + "trajectory_validation": { + "duration_s": 16.83059364721988, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.4786846404365025e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003689199191968003, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 505, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 505, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.009983940972222223, + "mean_luminance": 147.3993682861328, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 336, + 420, + 504 + ], + "spatial_standard_deviation": 38.03390121459961, + "valid": true + }, + "views": { + "front": { + "bytes": 20419265, + "metadata": "front.json", + "sha256": "7f39cfcbdb63c1da50568897dce7c7852c52ef0ceade2afd1cc9ee6677d70c97", + "video": "front.mp4" + }, + "left": { + "bytes": 18803964, + "metadata": "left.json", + "sha256": "50283ee47ff54d42fb96e9cc71c5d48cb334d5fda84ab929f1cc0337bb6356b3", + "video": "left.mp4" + }, + "right": { + "bytes": 20844551, + "metadata": "right.json", + "sha256": "1401a8030a04822ae5a59727b46eb75f6a6f331ae56571c589e55e4146433aec", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267, + "worker_elapsed_seconds": 148.61360815982334, + "wrong_orientation": { + "azimuth_deg": 29.47485015345063, + "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": [ + 0.48749218607898015, + 0.053266072636462714, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 115.29274337076532, + "release_lateral_offset_m": 0.020514653684103188, + "release_phase_fraction": 0.719222066622597, + "release_tilt_deg": 27.220093991705145, + "release_time_s": 15.88038469926542, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.4619465770936547, + 0.0428534907487242, + 0.8500000000000001 + ], + "yaw_deg": -21.355021548809532 + } +} diff --git a/tube_drop/scene_000274/right.json b/tube_drop/scene_000274/right.json new file mode 100644 index 0000000000000000000000000000000000000000..afd9aa632026249220dd9362e5aa1406a02add7f --- /dev/null +++ b/tube_drop/scene_000274/right.json @@ -0,0 +1,1091 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ], + "duration_s": 16.83059364721988, + "episode_id": 274, + "error_type": "tube_drop", + "frame_count": 505, + "generation_success": true, + "light_color_rgb": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.0525641438024618, + "direction_azimuth_deg": -130.4873636847427, + "lateral_speed_mps": 0.027632544919885427, + "phase": "lower_to_rack", + "phase_fraction": 0.8125974022528641, + "release_clearance_m": 0.008856777680800046, + "release_tilt_deg": 109.50333485102249, + "stage": "insertion", + "tip_duration_s": 0.44101912216322237, + "trigger_time_s": 15.949649259880442, + "tube_detach_fraction": 0.600670241185214, + "tube_engagement_fraction": 0.5910566563970516, + "tube_on_rack": true, + "upward_speed_mps": 0.08428878908790279 + }, + "rack_id": "TR-002", + "rack_position": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_yaw_deg": -47.59829916115336, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-003" + }, + "distractors": { + "count": 9, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.7303786430731778, + 1.0982264661709173, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9580614123963529, + "yaw_deg": 143.52489340800224 + }, + { + "asset_id": "TIP-007", + "pitch_deg": 0.0, + "position": [ + -0.13227565255572404, + 0.20440050397497878, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9065517947269022, + "yaw_deg": -90.8469369991232 + }, + { + "asset_id": "PIP-018", + "pitch_deg": 0.0, + "position": [ + 0.4930730364857002, + -0.3497867469972536, + 0.8133902120978204 + ], + "roll_deg": -91.23137121497544, + "surface": "main_table", + "uniform_scale": 0.8941489100711054, + "yaw_deg": -143.11819654068972 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.44856501813026617, + 1.2302293530515553, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8912690123395883, + "yaw_deg": -28.826550755965798 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + -0.7392586790755877, + 1.07439329746171, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8747345983188017, + "yaw_deg": 165.0446331133117 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -90.83571288705195, + "position": [ + -0.5149455244558936, + 1.1462577374614271, + 0.8574725079877538 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9650271194187412, + "yaw_deg": -174.40010565044824 + }, + { + "asset_id": "RES-010", + "pitch_deg": 0.0, + "position": [ + -0.33774258351791575, + 1.1374431322457283, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.120198605976859, + "yaw_deg": 46.997275594531175 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.5208399744382766, + 0.28704525676272763, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9425092558868957, + "yaw_deg": 76.04036976896066 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + 0.12041559463576257, + 0.37494870347057496, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9508530867009723, + "yaw_deg": -174.96370970686934 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8437539203599184, + 0.7514545510638402, + 0.17778796929347893 + ], + "cabinet_color_rgb": [ + 0.5756696053832483, + 0.6701044461120018, + 0.6819867248615272 + ], + "floor_color_rgb": [ + 0.278337672958895, + 0.3355035763863401, + 0.3054534018480256 + ], + "screen_color_rgb": [ + 0.31698032638381674, + 0.7134794298463556, + 0.8388933654473979 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7387059720269357, + 0.8107473351534356, + 0.8212976247927488 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9357412705383653, + 0.92, + 0.92 + ], + "light_intensity": 2076.0016729367267, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ] + }, + "layout": { + "rack_position_m": [ + 0.14559985540847642, + 0.01291344715809728, + 0.79 + ], + "rack_to_vortex_bearing_deg": -161.6425896063032, + "rack_to_vortex_distance_m": 0.5152990874385157, + "rack_yaw_deg": -47.59829916115336, + "return_slot_offset_xy_m": [ + 0.034, + 0.034 + ], + "returns_to_different_slot": true, + "start_slot_offset_xy_m": [ + 0.068, + -0.068 + ], + "tube_return_position_m": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position_m": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_position_m": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267 + }, + "liquid": { + "color_rgb": [ + 0.05523962679124074, + 0.2872881037615139, + 0.3494444220776227 + ], + "effective_peak_level_fraction": 0.7549126021190524, + "effective_vortex_level_rise_fraction": 0.21983973323475542, + "fill_fraction": 0.5350728688842971, + "opacity": 0.8915355404069376, + "present": true, + "vortex_level_rise_fraction": 0.21983973323475542 + }, + "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": 142740000, + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.034, + 0.034 + ], + "scene_id": "tube_drop/scene_000274", + "schema_version": 15, + "seed": 142740000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "a59d829a277389ea46842ef37028a873c330f50a5483d61a368e5864d1d31ff8", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + -0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_vortex", + "event_time_s": 3.8391155106714945, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.26, + 0.32, + 0.42 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "spiral", + "approach_sway_m": 0.004970961149380115, + "depart_pattern": "s_sway", + "depart_sway_m": 0.0033583490243307783, + "handling_noise_amplitude_m": 0.008881381481673854, + "handling_noise_frequency_hz": 2.600784566524934, + "handling_noise_phase_xyz_rad": [ + 5.3368461308359025, + 4.752337811952993, + 5.4212060001826625 + ], + "lift_height_m": 0.07061159698191367, + "orientation_noise_deg": 2.809825714490109, + "outbound_curve_bias": 0.062459051673921406, + "outbound_pattern": "late_swoop", + "phase_boundaries_s": { + "final_hold": [ + 16.08866197135777, + 16.83059364721988 + ], + "initial_hold": [ + 0.0, + 1.0661164112688286 + ], + "lift_from_rack": [ + 1.0661164112688286, + 3.4525882657232883 + ], + "lower_to_rack": [ + 15.346875501220897, + 16.08866197135777 + ], + "lower_to_vortex": [ + 5.599961848768878, + 6.53251262871354 + ], + "raise_from_vortex": [ + 10.88315938726394, + 11.961901463306546 + ], + "transfer_to_rack": [ + 11.961901463306546, + 15.346875501220897 + ], + "transfer_to_vortex": [ + 3.4525882657232883, + 5.599961848768878 + ], + "vortex": [ + 6.53251262871354, + 10.88315938726394 + ] + }, + "pick_line_azimuth_deg": -175.51987933710387, + "pick_line_tilt_deg": 8.612011262654605, + "pick_pattern": "straight", + "pick_sway_m": -0.007524733584569604, + "put_pattern": "lean", + "put_sway_m": -0.008604362355584276, + "rack_put_height_m": 0.2922151049840538, + "return_bend_scale": 0.8011059348598988, + "return_curve_bias": -0.49715752201271235, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 1.3768010484472313, + "transfer_bend_m": 0.33022537092958193, + "transfer_side": -1.0, + "transport_tilt_deg": 8.503103694625361, + "vertical_arc_m": 0.09845149326037037, + "vortex_apparent_frequency_hz": 4.047167484417599, + "vortex_approach_height_m": 0.26462202650897715, + "vortex_depart_height_m": 0.3737822351624737, + "vortex_frequency_hz": 34.0471674844176, + "vortex_phase_rad": 1.448526447742603, + "vortex_radius_m": 0.00048259285489526423, + "vortex_tilt_deg": 0.17891111321202186 + }, + "trajectory_validation": { + "duration_s": 16.83059364721988, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.4786846404365025e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.003689199191968003, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_vortex", + "phase_fraction": 0.18, + "release_time_s": 3.8391155106714945, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.061580768756031246, + "final_angular_speed_deg_s": 5.75824499130249, + "final_linear_speed_mps": 0.005267010536044836, + "final_position_m": [ + 0.10244745016098022, + -0.07429015636444092, + 0.84649258852005 + ], + "final_protected_visual_minimum_z_m": 0.8464341999406071, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.09016849845647812, + "first_impact_position_m": [ + 0.10244155675172806, + -0.0742558017373085, + 0.8464813828468323 + ], + "first_impact_surface": "table", + "first_impact_time_s": 3.95, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.8464199900627136, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_vortex", + "release_phase_fraction": 0.18, + "release_position_m": [ + 0.10248248855391723, + -0.07429952129161423, + 0.9080007588187449 + ], + "release_time_s": 3.8391155106714945, + "support_clearance_m": 0.056434199940607055, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + 0.193633682895892, + 0.010733672649300346, + 0.8152000000000001 + ], + "tube_start_position": [ + 0.14124030639088256, + -0.08315420781673385, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "1401a8030a04822ae5a59727b46eb75f6a6f331ae56571c589e55e4146433aec", + "video_validation": { + "actual_frame_count": 505, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 505, + "frame_count_valid": true, + "full_decode_frame_count": 505, + "max_changed_pixel_fraction": 0.00825173611111111, + "mean_luminance": 139.21693420410156, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 84, + 168, + 252, + 336, + 420, + 504 + ], + "spatial_standard_deviation": 35.608428955078125, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.3892225487037527, + -0.11323573689571917, + 1.0265 + ], + "vortex_id": "VTX-003", + "vortex_position": [ + -0.34347585754976817, + -0.1493767143100331, + 0.79 + ], + "vortex_yaw_deg": 51.8869770039267, + "wrong_orientation": { + "azimuth_deg": 29.47485015345063, + "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": [ + 0.48749218607898015, + 0.053266072636462714, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 115.29274337076532, + "release_lateral_offset_m": 0.020514653684103188, + "release_phase_fraction": 0.719222066622597, + "release_tilt_deg": 27.220093991705145, + "release_time_s": 15.88038469926542, + "slot_offset_xy": [ + -0.02, + -0.019 + ], + "tube_target_position": [ + 0.4619465770936547, + 0.0428534907487242, + 0.8500000000000001 + ], + "yaw_deg": -21.355021548809532 + } +} diff --git a/tube_drop/scene_000290/front.json b/tube_drop/scene_000290/front.json new file mode 100644 index 0000000000000000000000000000000000000000..be05a886feefefa9b1cc18eaf9fd2c38d96e193e --- /dev/null +++ b/tube_drop/scene_000290/front.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ], + "duration_s": 17.600484752390944, + "episode_id": 290, + "error_type": "tube_drop", + "frame_count": 528, + "generation_success": true, + "light_color_rgb": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.7266718830757928, + "direction_azimuth_deg": -147.3463347962728, + "lateral_speed_mps": 0.0536948569373391, + "phase": "lower_to_rack", + "phase_fraction": 0.8091848149246861, + "release_clearance_m": 0.008896093334380514, + "release_tilt_deg": 112.9835043275403, + "stage": "insertion", + "tip_duration_s": 0.2924995717257396, + "trigger_time_s": 16.37079043421739, + "tube_detach_fraction": 0.4981651739211569, + "tube_engagement_fraction": 0.5374282237904103, + "tube_on_rack": true, + "upward_speed_mps": 0.09696626039492295 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_yaw_deg": 50.06329839222521, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_to_vortex_bearing_deg": -143.07672150277634, + "rack_to_vortex_distance_m": 0.635362522559691, + "rack_yaw_deg": 50.06329839222521, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "tube_return_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437 + }, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "effective_peak_level_fraction": 0.7571919400407693, + "effective_vortex_level_rise_fraction": 0.21831173402194037, + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "present": true, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "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": 142900000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000290", + "schema_version": 15, + "seed": 142900000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "2e76f0bd199b0ff597527a884619a8dcf5ffb6934e1036318aff9470945f5a01", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.969589775926877, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + }, + "trajectory_validation": { + "duration_s": 17.600484752390944, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.310275581958006e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009264569660313903, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "video": "front.mp4", + "video_sha256": "e98460fb27033cbef861d13e7839dfc0feebf7553e33a2173ec486387eefee48", + "video_validation": { + "actual_frame_count": 528, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 528, + "frame_count_valid": true, + "full_decode_frame_count": 528, + "max_changed_pixel_fraction": 0.009768229166666666, + "mean_luminance": 111.28166961669922, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 351, + 439, + 527 + ], + "spatial_standard_deviation": 34.622215270996094, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437, + "wrong_orientation": { + "azimuth_deg": -37.65536262175519, + "mode": "tilted", + "tilt_deg_from_z": 38.99690691919399 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.3327023196539046, + 0.14185259455336852, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 146.38080543534983, + "release_lateral_offset_m": 0.01711581886518005, + "release_phase_fraction": 0.7670335959942565, + "release_tilt_deg": 37.45028791161661, + "release_time_s": 16.314712532181552, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + 0.37264959768580874, + 0.1397995534330418, + 0.8500000000000001 + ], + "yaw_deg": -2.9420574898299066 + } +} diff --git a/tube_drop/scene_000290/left.json b/tube_drop/scene_000290/left.json new file mode 100644 index 0000000000000000000000000000000000000000..c4083c60df17333eaab413d9042260b63c871deb --- /dev/null +++ b/tube_drop/scene_000290/left.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ], + "duration_s": 17.600484752390944, + "episode_id": 290, + "error_type": "tube_drop", + "frame_count": 528, + "generation_success": true, + "light_color_rgb": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.7266718830757928, + "direction_azimuth_deg": -147.3463347962728, + "lateral_speed_mps": 0.0536948569373391, + "phase": "lower_to_rack", + "phase_fraction": 0.8091848149246861, + "release_clearance_m": 0.008896093334380514, + "release_tilt_deg": 112.9835043275403, + "stage": "insertion", + "tip_duration_s": 0.2924995717257396, + "trigger_time_s": 16.37079043421739, + "tube_detach_fraction": 0.4981651739211569, + "tube_engagement_fraction": 0.5374282237904103, + "tube_on_rack": true, + "upward_speed_mps": 0.09696626039492295 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_yaw_deg": 50.06329839222521, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_to_vortex_bearing_deg": -143.07672150277634, + "rack_to_vortex_distance_m": 0.635362522559691, + "rack_yaw_deg": 50.06329839222521, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "tube_return_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437 + }, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "effective_peak_level_fraction": 0.7571919400407693, + "effective_vortex_level_rise_fraction": 0.21831173402194037, + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "present": true, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "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": 142900000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000290", + "schema_version": 15, + "seed": 142900000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "2e76f0bd199b0ff597527a884619a8dcf5ffb6934e1036318aff9470945f5a01", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.969589775926877, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + }, + "trajectory_validation": { + "duration_s": 17.600484752390944, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.310275581958006e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009264569660313903, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_sha256": "f3297e16850c6f78b34cd0c74307f7cdfd8d58aa2484becf14162b69d95854ed", + "video_validation": { + "actual_frame_count": 528, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 528, + "frame_count_valid": true, + "full_decode_frame_count": 528, + "max_changed_pixel_fraction": 0.007022135416666667, + "mean_luminance": 102.79471588134766, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 351, + 439, + 527 + ], + "spatial_standard_deviation": 31.120563507080078, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437, + "wrong_orientation": { + "azimuth_deg": -37.65536262175519, + "mode": "tilted", + "tilt_deg_from_z": 38.99690691919399 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.3327023196539046, + 0.14185259455336852, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 146.38080543534983, + "release_lateral_offset_m": 0.01711581886518005, + "release_phase_fraction": 0.7670335959942565, + "release_tilt_deg": 37.45028791161661, + "release_time_s": 16.314712532181552, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + 0.37264959768580874, + 0.1397995534330418, + 0.8500000000000001 + ], + "yaw_deg": -2.9420574898299066 + } +} diff --git a/tube_drop/scene_000290/metadata.json b/tube_drop/scene_000290/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f3683cfa2415fa2fba540cdb7653e15757fcc3da --- /dev/null +++ b/tube_drop/scene_000290/metadata.json @@ -0,0 +1,1192 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ], + "duration_s": 17.600484752390944, + "episode_id": 290, + "error_type": "tube_drop", + "frame_count": 528, + "generation_success": true, + "light_color_rgb": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 1.7266718830757928, + "direction_azimuth_deg": -147.3463347962728, + "lateral_speed_mps": 0.0536948569373391, + "phase": "lower_to_rack", + "phase_fraction": 0.8091848149246861, + "release_clearance_m": 0.008896093334380514, + "release_tilt_deg": 112.9835043275403, + "stage": "insertion", + "tip_duration_s": 0.2924995717257396, + "trigger_time_s": 16.37079043421739, + "tube_detach_fraction": 0.4981651739211569, + "tube_engagement_fraction": 0.5374282237904103, + "tube_on_rack": true, + "upward_speed_mps": 0.09696626039492295 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_yaw_deg": 50.06329839222521, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_to_vortex_bearing_deg": -143.07672150277634, + "rack_to_vortex_distance_m": 0.635362522559691, + "rack_yaw_deg": 50.06329839222521, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "tube_return_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437 + }, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "effective_peak_level_fraction": 0.7571919400407693, + "effective_vortex_level_rise_fraction": 0.21831173402194037, + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "present": true, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "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": 142900000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + } + }, + "render_and_primary_validation_seconds": 351.5808472868521, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000290", + "schema_version": 15, + "seed": 142900000, + "shared_state_sha256": "2e76f0bd199b0ff597527a884619a8dcf5ffb6934e1036318aff9470945f5a01", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.969589775926877, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + }, + "trajectory_validation": { + "duration_s": 17.600484752390944, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.310275581958006e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009264569660313903, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 528, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 528, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.007022135416666667, + "mean_luminance": 102.79471588134766, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 351, + 439, + 527 + ], + "spatial_standard_deviation": 31.120563507080078, + "valid": true + }, + "views": { + "front": { + "bytes": 20496066, + "metadata": "front.json", + "sha256": "e98460fb27033cbef861d13e7839dfc0feebf7553e33a2173ec486387eefee48", + "video": "front.mp4" + }, + "left": { + "bytes": 21000671, + "metadata": "left.json", + "sha256": "f3297e16850c6f78b34cd0c74307f7cdfd8d58aa2484becf14162b69d95854ed", + "video": "left.mp4" + }, + "right": { + "bytes": 21472259, + "metadata": "right.json", + "sha256": "1c4fef2c6f8e05b436fb430fa33636fe1f6510446d51a8ee565f9f9901f581ec", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437, + "worker_elapsed_seconds": 372.6977698940318, + "wrong_orientation": { + "azimuth_deg": -37.65536262175519, + "mode": "tilted", + "tilt_deg_from_z": 38.99690691919399 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.3327023196539046, + 0.14185259455336852, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 146.38080543534983, + "release_lateral_offset_m": 0.01711581886518005, + "release_phase_fraction": 0.7670335959942565, + "release_tilt_deg": 37.45028791161661, + "release_time_s": 16.314712532181552, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + 0.37264959768580874, + 0.1397995534330418, + 0.8500000000000001 + ], + "yaw_deg": -2.9420574898299066 + } +} diff --git a/tube_drop/scene_000290/right.json b/tube_drop/scene_000290/right.json new file mode 100644 index 0000000000000000000000000000000000000000..32a2e27ada10bbdff6dfbb6e82c32aaa577e30f5 --- /dev/null +++ b/tube_drop/scene_000290/right.json @@ -0,0 +1,1117 @@ +{ + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ], + "duration_s": 17.600484752390944, + "episode_id": 290, + "error_type": "tube_drop", + "frame_count": 528, + "generation_success": true, + "light_color_rgb": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 1.7266718830757928, + "direction_azimuth_deg": -147.3463347962728, + "lateral_speed_mps": 0.0536948569373391, + "phase": "lower_to_rack", + "phase_fraction": 0.8091848149246861, + "release_clearance_m": 0.008896093334380514, + "release_tilt_deg": 112.9835043275403, + "stage": "insertion", + "tip_duration_s": 0.2924995717257396, + "trigger_time_s": 16.37079043421739, + "tube_detach_fraction": 0.4981651739211569, + "tube_engagement_fraction": 0.5374282237904103, + "tube_on_rack": true, + "upward_speed_mps": 0.09696626039492295 + }, + "rack_id": "TR-002", + "rack_position": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_yaw_deg": 50.06329839222521, + "randomization_results": { + "assets": { + "rack_id": "TR-002", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-005" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.5475311822742231, + -0.200062104380028, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1319672615899266, + "yaw_deg": 145.57673942821276 + }, + { + "asset_id": "PIP-017", + "pitch_deg": -89.35185245959293, + "position": [ + 0.6516169171636165, + 0.09575982618313406, + 0.8124547484921159 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7855008405050393, + "yaw_deg": -89.39662116239867 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + -0.05798514616065098, + -0.3541544601788201, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1429603150013272, + "yaw_deg": 62.08310287409401 + }, + { + "asset_id": "SBI-006", + "pitch_deg": 0.0, + "position": [ + 0.24032363186936956, + 1.1568189258900627, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 1.020557236682816, + "yaw_deg": 84.14627988296593 + }, + { + "asset_id": "TIP-002", + "pitch_deg": 0.0, + "position": [ + 0.2690378120252449, + -0.08129374223995384, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8129880584698055, + "yaw_deg": 19.357892124525563 + }, + { + "asset_id": "PIP-008", + "pitch_deg": 90.65654577042288, + "position": [ + 0.5357506057605216, + 0.2743703090163382, + 0.8007816994915271 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.1175760316877197, + "yaw_deg": -61.35199576490278 + }, + { + "asset_id": "PIP-007", + "pitch_deg": 86.7920745818535, + "position": [ + -0.5831840885353197, + 0.3293910193574787, + 0.8093826974438474 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.870170389117391, + "yaw_deg": -88.29957638820146 + }, + { + "asset_id": "SBI-004", + "pitch_deg": 0.0, + "position": [ + -0.34442072609674323, + 0.1949553052003219, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9863524624460205, + "yaw_deg": 126.58383008015039 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + -0.6817380993399242, + 1.153235428897583, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.9855469945126097, + "yaw_deg": 92.44765071113625 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + -0.3906982930794155, + -0.3539327980187191, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0348715716572134, + "yaw_deg": -35.605244750059825 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.6545177569048145, + 0.3641335881120125, + 0.7054739450972348 + ], + "cabinet_color_rgb": [ + 0.23964581416483344, + 0.2800545897329584, + 0.39468391441344275 + ], + "floor_color_rgb": [ + 0.17362199281031707, + 0.2314457204904647, + 0.2679508113166405 + ], + "screen_color_rgb": [ + 0.24238996606168234, + 0.7031501604585769, + 0.8784754158361108 + ], + "style": "instrument_bay", + "wall_color_rgb": [ + 0.3618732511804331, + 0.35697960320208866, + 0.4648875509152471 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9940831054012197, + 0.92, + 0.92 + ], + "light_intensity": 1661.4952213801178, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ] + }, + "layout": { + "rack_position_m": [ + -0.0270497555820135, + 0.3043606221080935, + 0.79 + ], + "rack_to_vortex_bearing_deg": -143.07672150277634, + "rack_to_vortex_distance_m": 0.635362522559691, + "rack_yaw_deg": 50.06329839222521, + "return_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.068, + 0.068 + ], + "tube_return_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position_m": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "vortex_contact_position_m": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_position_m": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437 + }, + "liquid": { + "color_rgb": [ + 0.053947117727344646, + 0.2734203535141068, + 0.35837728980381306 + ], + "effective_peak_level_fraction": 0.7571919400407693, + "effective_vortex_level_rise_fraction": 0.21831173402194037, + "fill_fraction": 0.5388802060188289, + "opacity": 0.8694034746429928, + "present": true, + "vortex_level_rise_fraction": 0.21831173402194037 + }, + "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": 142900000, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.068, + 0.068 + ], + "scene_id": "tube_drop/scene_000290", + "schema_version": 15, + "seed": 142900000, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "2e76f0bd199b0ff597527a884619a8dcf5ffb6934e1036318aff9470945f5a01", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.068, + 0.068 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 13.969589775926877, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.36, + 0.42, + 0.48 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.009017228099454041, + "depart_pattern": "spiral", + "depart_sway_m": -0.0022018811779202035, + "handling_noise_amplitude_m": 0.004449326993763592, + "handling_noise_frequency_hz": 2.3073614728410328, + "handling_noise_phase_xyz_rad": [ + 1.4285789923038836, + 2.389669295068109, + 3.4447722884778846 + ], + "lift_height_m": 0.1636290457341365, + "orientation_noise_deg": 3.2451795189098855, + "outbound_curve_bias": -0.36096410615248764, + "outbound_pattern": "loop", + "phase_boundaries_s": { + "final_hold": [ + 16.624650595966568, + 17.600484752390944 + ], + "initial_hold": [ + 0.0, + 0.8817316498941974 + ], + "lift_from_rack": [ + 0.8817316498941974, + 2.628431117487379 + ], + "lower_to_rack": [ + 15.294252485098294, + 16.624650595966568 + ], + "lower_to_vortex": [ + 4.630747145935079, + 5.60738939003357 + ], + "raise_from_vortex": [ + 10.375473897605776, + 11.760737540673723 + ], + "transfer_to_rack": [ + 11.760737540673723, + 15.294252485098294 + ], + "transfer_to_vortex": [ + 2.628431117487379, + 4.630747145935079 + ], + "vortex": [ + 5.60738939003357, + 10.375473897605776 + ] + }, + "pick_line_azimuth_deg": -141.5012051238648, + "pick_line_tilt_deg": 2.919762324806288, + "pick_pattern": "spiral", + "pick_sway_m": -0.0027181763416182455, + "put_pattern": "lean", + "put_sway_m": -0.00934668709608619, + "rack_put_height_m": 0.3149662293395041, + "return_bend_scale": 0.7422925830791252, + "return_curve_bias": -0.3830340871463834, + "return_pattern": "crescent", + "return_side": -1.0, + "return_vertical_arc_scale": 1.344841966976642, + "transfer_bend_m": 0.3133024443051194, + "transfer_side": -1.0, + "transport_tilt_deg": 11.84059778029695, + "vertical_arc_m": 0.19994882901745845, + "vortex_apparent_frequency_hz": 12.771847062708744, + "vortex_approach_height_m": 0.09611392512566874, + "vortex_depart_height_m": 0.3213173555448063, + "vortex_frequency_hz": 42.771847062708744, + "vortex_phase_rad": 2.314148522946756, + "vortex_radius_m": 0.0006430006890251029, + "vortex_tilt_deg": 0.8861017218296875 + }, + "trajectory_validation": { + "duration_s": 17.600484752390944, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 1.310275581958006e-15, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.009264569660313903, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.625114728533535, + "release_time_s": 13.969589775926877, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.45218791135259373, + "final_angular_speed_deg_s": 26.746097564697266, + "final_linear_speed_mps": 0.008319384418427944, + "final_position_m": [ + -0.11283339560031891, + 0.17385762929916382, + 0.8085987567901611 + ], + "final_protected_visual_minimum_z_m": 0.7902500067901619, + "final_surface": "table", + "first_impact_body": "rack", + "first_impact_linear_speed_mps": 0.4680967628955841, + "first_impact_position_m": [ + -0.07751858979463577, + 0.15309780836105347, + 0.795515239238739 + ], + "first_impact_surface": "table", + "first_impact_time_s": 14.291666666666666, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.795479416847229, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.625114728533535, + "release_position_m": [ + -0.057949105746400005, + 0.1710626394500234, + 1.2476673281998227 + ], + "release_time_s": 13.969589775926877, + "support_clearance_m": 0.0002500067901618497, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "tube_start_position": [ + -0.035537052280448046, + 0.4001518836863437, + 0.8152000000000001 + ], + "video": "right.mp4", + "video_sha256": "1c4fef2c6f8e05b436fb430fa33636fe1f6510446d51a8ee565f9f9901f581ec", + "video_validation": { + "actual_frame_count": 528, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 528, + "frame_count_valid": true, + "full_decode_frame_count": 528, + "max_changed_pixel_fraction": 0.006581163194444444, + "mean_luminance": 102.09452056884766, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 88, + 176, + 264, + 351, + 439, + 527 + ], + "spatial_standard_deviation": 34.72351837158203, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + -0.49821704386914256, + -0.06499080664521803, + 0.9580000000000001 + ], + "vortex_id": "VTX-005", + "vortex_position": [ + -0.5349843835440911, + -0.07733028529007813, + 0.79 + ], + "vortex_yaw_deg": -62.39831337236437, + "wrong_orientation": { + "azimuth_deg": -37.65536262175519, + "mode": "tilted", + "tilt_deg_from_z": 38.99690691919399 + }, + "wrong_rack": { + "hole_relation": "too_small", + "insertion_depth_m": 0.0, + "insertion_succeeds": false, + "placement_outcome": "physx_drop_pending", + "position": [ + 0.3327023196539046, + 0.14185259455336852, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": 146.38080543534983, + "release_lateral_offset_m": 0.01711581886518005, + "release_phase_fraction": 0.7670335959942565, + "release_tilt_deg": 37.45028791161661, + "release_time_s": 16.314712532181552, + "slot_offset_xy": [ + 0.04, + 0.0 + ], + "tube_target_position": [ + 0.37264959768580874, + 0.1397995534330418, + 0.8500000000000001 + ], + "yaw_deg": -2.9420574898299066 + } +} diff --git a/tube_drop/scene_000299/front.json b/tube_drop/scene_000299/front.json new file mode 100644 index 0000000000000000000000000000000000000000..97785f6dcb4b920fa03c422cd2c61671adb8296f --- /dev/null +++ b/tube_drop/scene_000299/front.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ], + "duration_s": 14.987744463019263, + "episode_id": 299, + "error_type": "tube_drop", + "frame_count": 450, + "generation_success": true, + "light_color_rgb": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.3197561622094875, + "direction_azimuth_deg": 86.1855770902165, + "lateral_speed_mps": 0.04193508846109757, + "phase": "lift_from_rack", + "phase_fraction": 0.3254637976280055, + "release_clearance_m": 0.008073743610514217, + "release_tilt_deg": 119.969545712106, + "stage": "pickup", + "tip_duration_s": 0.3311984744805586, + "trigger_time_s": 1.840829827913156, + "tube_detach_fraction": 0.5704087947177457, + "tube_engagement_fraction": 0.3946179831338048, + "tube_on_rack": true, + "upward_speed_mps": 0.09852006292789851 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_yaw_deg": 28.171261306458604, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_to_vortex_bearing_deg": -49.4551575345307, + "rack_to_vortex_distance_m": 0.4784203427977776, + "rack_yaw_deg": 28.171261306458604, + "return_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "tube_return_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604 + }, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "effective_peak_level_fraction": 0.7209459690781341, + "effective_vortex_level_rise_fraction": 0.18800810696940212, + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "present": true, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "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": 142990002, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000299", + "schema_version": 15, + "seed": 142990002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "4e41ca05dab9e5d5ff111ed09f2df00927f69fcd5491863b9ee3a102f97efe65", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.658182742092809, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + }, + "trajectory_validation": { + "duration_s": 14.987744463019263, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.978733960281817e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0043553595647689, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "video": "front.mp4", + "video_sha256": "dac2c02a44c1e6616d7eb8f1ccb59a73bdad6032d3455fa0e4bb0dad11abc47b", + "video_validation": { + "actual_frame_count": 450, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 450, + "frame_count_valid": true, + "full_decode_frame_count": 450, + "max_changed_pixel_fraction": 0.009650173611111111, + "mean_luminance": 146.4614715576172, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 150, + 224, + 299, + 374, + 449 + ], + "spatial_standard_deviation": 38.56583023071289, + "valid": true + }, + "view_index": 1, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604, + "wrong_orientation": { + "azimuth_deg": -122.40504925759274, + "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": [ + 0.26087489257624086, + -0.37976339172468404, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -125.23984176511848, + "release_lateral_offset_m": 0.016448549140026875, + "release_phase_fraction": 0.7119273570515968, + "release_tilt_deg": 29.848124522272318, + "release_time_s": 13.596515545768419, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + 0.2755553240861982, + -0.3933459147112816, + 0.8500000000000001 + ], + "yaw_deg": -42.77539495216159 + } +} diff --git a/tube_drop/scene_000299/left.json b/tube_drop/scene_000299/left.json new file mode 100644 index 0000000000000000000000000000000000000000..b6ea59e02ef801ff2a27e35ad7435dc59cd890b0 --- /dev/null +++ b/tube_drop/scene_000299/left.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "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": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ], + "duration_s": 14.987744463019263, + "episode_id": 299, + "error_type": "tube_drop", + "frame_count": 450, + "generation_success": true, + "light_color_rgb": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.3197561622094875, + "direction_azimuth_deg": 86.1855770902165, + "lateral_speed_mps": 0.04193508846109757, + "phase": "lift_from_rack", + "phase_fraction": 0.3254637976280055, + "release_clearance_m": 0.008073743610514217, + "release_tilt_deg": 119.969545712106, + "stage": "pickup", + "tip_duration_s": 0.3311984744805586, + "trigger_time_s": 1.840829827913156, + "tube_detach_fraction": 0.5704087947177457, + "tube_engagement_fraction": 0.3946179831338048, + "tube_on_rack": true, + "upward_speed_mps": 0.09852006292789851 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_yaw_deg": 28.171261306458604, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_to_vortex_bearing_deg": -49.4551575345307, + "rack_to_vortex_distance_m": 0.4784203427977776, + "rack_yaw_deg": 28.171261306458604, + "return_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "tube_return_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604 + }, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "effective_peak_level_fraction": 0.7209459690781341, + "effective_vortex_level_rise_fraction": 0.18800810696940212, + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "present": true, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "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": 142990002, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000299", + "schema_version": 15, + "seed": 142990002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "4e41ca05dab9e5d5ff111ed09f2df00927f69fcd5491863b9ee3a102f97efe65", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.658182742092809, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + }, + "trajectory_validation": { + "duration_s": 14.987744463019263, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.978733960281817e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0043553595647689, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "video": "left.mp4", + "video_sha256": "926eb8da52bb35c2f7489562500d419cafe9cf6acdf947d770e0b288f15862d6", + "video_validation": { + "actual_frame_count": 450, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 450, + "frame_count_valid": true, + "full_decode_frame_count": 450, + "max_changed_pixel_fraction": 0.008435329861111111, + "mean_luminance": 148.3944549560547, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 150, + 224, + 299, + 374, + 449 + ], + "spatial_standard_deviation": 38.483741760253906, + "valid": true + }, + "view_index": 0, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604, + "wrong_orientation": { + "azimuth_deg": -122.40504925759274, + "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": [ + 0.26087489257624086, + -0.37976339172468404, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -125.23984176511848, + "release_lateral_offset_m": 0.016448549140026875, + "release_phase_fraction": 0.7119273570515968, + "release_tilt_deg": 29.848124522272318, + "release_time_s": 13.596515545768419, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + 0.2755553240861982, + -0.3933459147112816, + 0.8500000000000001 + ], + "yaw_deg": -42.77539495216159 + } +} diff --git a/tube_drop/scene_000299/metadata.json b/tube_drop/scene_000299/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..580e572e19fda7faad2764a124a469a76697fa44 --- /dev/null +++ b/tube_drop/scene_000299/metadata.json @@ -0,0 +1,1190 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "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": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6031106617202228, + -0.5933339928706739, + 0.38010947643571985, + -0.3738035427163593 + ], + "camera_rig_id": "zed_reference_20260908_v1", + "camera_sensor_verification": { + "front": { + "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 + }, + "left": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + -1.7770445346832275, + 0.39819276332855225, + 1.8880914449691772 + ], + "actual_quaternion_xyzw": [ + -0.6031106114387512, + 0.5933340191841125, + -0.3801094889640808, + 0.3738035559654236 + ], + "valid": true + }, + "right": { + "actual_K": [ + [ + 1000.0, + 0.0, + 960.0 + ], + [ + 0.0, + 1000.0, + 600.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "actual_eye_m": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + } + }, + "camera_target": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "camera_view": "left", + "distractors": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ], + "duration_s": 14.987744463019263, + "episode_id": 299, + "error_type": "tube_drop", + "frame_count": 450, + "generation_success": true, + "light_color_rgb": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "rack_flip": { + "angular_speed_rad_s": 2.3197561622094875, + "direction_azimuth_deg": 86.1855770902165, + "lateral_speed_mps": 0.04193508846109757, + "phase": "lift_from_rack", + "phase_fraction": 0.3254637976280055, + "release_clearance_m": 0.008073743610514217, + "release_tilt_deg": 119.969545712106, + "stage": "pickup", + "tip_duration_s": 0.3311984744805586, + "trigger_time_s": 1.840829827913156, + "tube_detach_fraction": 0.5704087947177457, + "tube_engagement_fraction": 0.3946179831338048, + "tube_on_rack": true, + "upward_speed_mps": 0.09852006292789851 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_yaw_deg": 28.171261306458604, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": [ + [ + 0.0069431176558121255, + -0.9998646519461332, + 0.014915458620346878, + 0.3823153391987899 + ], + [ + -0.43151957629920296, + -0.016451368713684023, + -0.901953550765228, + 0.9426920936472298 + ], + [ + 0.9020768528167509, + -0.00017394276111992735, + -0.4315753947529237, + 2.4179538337905133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + 0.0069431176558121255, + -0.43151957629920296, + 0.9020768528167509, + -1.777044552192361 + ], + [ + -0.9998646519461332, + -0.016451368713684023, + -0.00017394276111992735, + 0.3981927543438413 + ], + [ + 0.014915458620346878, + -0.901953550765228, + -0.4315753947529237, + 1.8880914528341686 + ], + [ + 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": "left", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + -1.777044552192361, + 0.3981927543438413, + 1.8880914528341686 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + -0.8749676993756101, + 0.3980188115827214, + 1.4565160580812448 + ], + "light_color_rgb": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_to_vortex_bearing_deg": -49.4551575345307, + "rack_to_vortex_distance_m": 0.4784203427977776, + "rack_yaw_deg": 28.171261306458604, + "return_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "tube_return_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604 + }, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "effective_peak_level_fraction": 0.7209459690781341, + "effective_vortex_level_rise_fraction": 0.18800810696940212, + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "present": true, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "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": 142990002, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + } + }, + "render_and_primary_validation_seconds": 120.43462971993722, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000299", + "schema_version": 15, + "seed": 142990002, + "shared_state_sha256": "4e41ca05dab9e5d5ff111ed09f2df00927f69fcd5491863b9ee3a102f97efe65", + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.658182742092809, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + }, + "trajectory_validation": { + "duration_s": 14.987744463019263, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.978733960281817e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0043553595647689, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "video": "left.mp4", + "video_validation": { + "actual_frame_count": 450, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 450, + "frame_count_valid": true, + "max_changed_pixel_fraction": 0.008435329861111111, + "mean_luminance": 148.3944549560547, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 150, + 224, + 299, + 374, + 449 + ], + "spatial_standard_deviation": 38.483741760253906, + "valid": true + }, + "views": { + "front": { + "bytes": 20134208, + "metadata": "front.json", + "sha256": "dac2c02a44c1e6616d7eb8f1ccb59a73bdad6032d3455fa0e4bb0dad11abc47b", + "video": "front.mp4" + }, + "left": { + "bytes": 18423924, + "metadata": "left.json", + "sha256": "926eb8da52bb35c2f7489562500d419cafe9cf6acdf947d770e0b288f15862d6", + "video": "left.mp4" + }, + "right": { + "bytes": 19162763, + "metadata": "right.json", + "sha256": "ea5de93752fd54e82fe9d52c39ec84b408b2b9bd330e8185137760b58850e46f", + "video": "right.mp4" + } + }, + "vortex_contact_position": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604, + "worker_elapsed_seconds": 139.15602202992886, + "wrong_orientation": { + "azimuth_deg": -122.40504925759274, + "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": [ + 0.26087489257624086, + -0.37976339172468404, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -125.23984176511848, + "release_lateral_offset_m": 0.016448549140026875, + "release_phase_fraction": 0.7119273570515968, + "release_tilt_deg": 29.848124522272318, + "release_time_s": 13.596515545768419, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + 0.2755553240861982, + -0.3933459147112816, + 0.8500000000000001 + ], + "yaw_deg": -42.77539495216159 + } +} diff --git a/tube_drop/scene_000299/right.json b/tube_drop/scene_000299/right.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a8391b3bcaab02e1457cb487cb3e9711f19d59 --- /dev/null +++ b/tube_drop/scene_000299/right.json @@ -0,0 +1,1115 @@ +{ + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "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": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_orientation_xyzw": [ + 0.6489834719138585, + 0.6693556436136641, + -0.30375293506040957, + -0.19625908892929814 + ], + "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": [ + 1.4007362127304077, + 0.0884445309638977, + 2.3167030811309814 + ], + "actual_quaternion_xyzw": [ + -0.6489834785461426, + -0.6693556308746338, + 0.30375292897224426, + 0.19625911116600037 + ], + "valid": true + }, + "camera_target": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "camera_view": "right", + "distractors": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ], + "duration_s": 14.987744463019263, + "episode_id": 299, + "error_type": "tube_drop", + "frame_count": 450, + "generation_success": true, + "light_color_rgb": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "metadata_schema_version": 2, + "outcome": "failure", + "physics_scene_count": 1, + "rack_flip": { + "angular_speed_rad_s": 2.3197561622094875, + "direction_azimuth_deg": 86.1855770902165, + "lateral_speed_mps": 0.04193508846109757, + "phase": "lift_from_rack", + "phase_fraction": 0.3254637976280055, + "release_clearance_m": 0.008073743610514217, + "release_tilt_deg": 119.969545712106, + "stage": "pickup", + "tip_duration_s": 0.3311984744805586, + "trigger_time_s": 1.840829827913156, + "tube_detach_fraction": 0.5704087947177457, + "tube_engagement_fraction": 0.3946179831338048, + "tube_on_rack": true, + "upward_speed_mps": 0.09852006292789851 + }, + "rack_id": "TR-004", + "rack_position": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_yaw_deg": 28.171261306458604, + "randomization_results": { + "assets": { + "rack_id": "TR-004", + "source_tube_has_cap": true, + "tube_cap_present": true, + "tube_id": "CT-009", + "vortex_id": "VTX-001" + }, + "distractors": { + "count": 10, + "placements": [ + { + "asset_id": "PIP-008", + "pitch_deg": 0.0, + "position": [ + -0.47608575312056156, + -0.1541563477469879, + 0.8050513346513146 + ], + "roll_deg": 90.55010684119107, + "surface": "main_table", + "uniform_scale": 0.9831982872509824, + "yaw_deg": -60.922447548694535 + }, + { + "asset_id": "AUX-TR-004", + "pitch_deg": 0.0, + "position": [ + 0.653865801275864, + -0.3098340758269308, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.8910801275318272, + "yaw_deg": -66.58626791139268 + }, + { + "asset_id": "PIP-017", + "pitch_deg": 0.0, + "position": [ + 0.32453860772298815, + 1.1863366113516702, + 0.8500276680554149 + ], + "roll_deg": 86.06191990562495, + "surface": "rear_bench", + "uniform_scale": 1.1554833168884562, + "yaw_deg": 157.1815744763727 + }, + { + "asset_id": "RES-008", + "pitch_deg": 0.0, + "position": [ + 0.5870755073321329, + 1.0412929495747723, + 0.83 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8144568921343376, + "yaw_deg": 167.9533336331845 + }, + { + "asset_id": "TIP-004", + "pitch_deg": 0.0, + "position": [ + 0.3465791227945926, + 0.28664476095495595, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0682172711978606, + "yaw_deg": -106.8874689554273 + }, + { + "asset_id": "SBI-002", + "pitch_deg": 0.0, + "position": [ + 0.35194818661746285, + -0.12043671987639365, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.9782636275158585, + "yaw_deg": -39.488050748744 + }, + { + "asset_id": "TIP-010", + "pitch_deg": 0.0, + "position": [ + -0.685556936612171, + 0.0805447188555633, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.0605558195628706, + "yaw_deg": 1.3939923088750845 + }, + { + "asset_id": "RES-001", + "pitch_deg": 0.0, + "position": [ + 0.028461921016679215, + -0.4267521458253074, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 0.7851741462084714, + "yaw_deg": -110.17537214754321 + }, + { + "asset_id": "PIP-005", + "pitch_deg": 89.42828084908462, + "position": [ + 0.6582101086675006, + 1.2793846317648836, + 0.8503409156280036 + ], + "roll_deg": 0.0, + "surface": "rear_bench", + "uniform_scale": 0.8626485055653773, + "yaw_deg": -150.32469444966472 + }, + { + "asset_id": "RES-009", + "pitch_deg": 0.0, + "position": [ + 0.021963095336928085, + 0.2917338185719458, + 0.79 + ], + "roll_deg": 0.0, + "surface": "main_table", + "uniform_scale": 1.078119247585946, + "yaw_deg": -37.85666442552136 + } + ] + }, + "environment": { + "background": { + "accent_color_rgb": [ + 0.8777133307459357, + 0.7051718358413779, + 0.22203294205734486 + ], + "cabinet_color_rgb": [ + 0.638827061450696, + 0.7077535977384204, + 0.7211976789918838 + ], + "floor_color_rgb": [ + 0.28171751632362574, + 0.30105519678132714, + 0.3505073878912029 + ], + "screen_color_rgb": [ + 0.3114849043491908, + 0.7078811229661454, + 0.8099775010889068 + ], + "style": "biosafety", + "wall_color_rgb": [ + 0.7476881682159338, + 0.8274306286099832, + 0.7813766291273707 + ] + }, + "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": [ + [ + -0.08060564639055179, + 0.9880300476641746, + -0.13152701122845545, + 0.3302304146409879 + ], + [ + 0.7495729504859496, + -0.026890784750358776, + -0.6613752925497731, + 0.4846345500224525 + ], + [ + -0.6569955263696622, + -0.15189967283782668, + -0.7384330489096569, + 2.644442167237768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_world_from_camera": [ + [ + -0.08060564639055179, + 0.7495729504859496, + -0.6569955263696622, + 1.400736160080704 + ], + [ + 0.9880300476641746, + -0.026890784750358776, + -0.15189967283782668, + 0.08844453109131574 + ], + [ + -0.13152701122845545, + -0.6613752925497731, + -0.7384330489096569, + 2.3167030289739357 + ], + [ + 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": "right", + "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" + }, + "camera_eye_m": [ + 1.400736160080704, + 0.08844453109131574, + 2.3167030289739357 + ], + "camera_focal_length_mm": 10.9140625, + "camera_target_m": [ + 0.7437406337110418, + -0.06345514174651094, + 1.5782699800642788 + ], + "light_color_rgb": [ + 0.9878038264068493, + 0.92, + 0.92 + ], + "light_intensity": 2462.732167002, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ] + }, + "layout": { + "rack_position_m": [ + -0.35248583906243103, + 0.30393419100764346, + 0.79 + ], + "rack_to_vortex_bearing_deg": -49.4551575345307, + "rack_to_vortex_distance_m": 0.4784203427977776, + "rack_yaw_deg": 28.171261306458604, + "return_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "returns_to_different_slot": false, + "start_slot_offset_xy_m": [ + 0.075, + 0.0 + ], + "tube_return_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position_m": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "vortex_contact_position_m": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_position_m": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604 + }, + "liquid": { + "color_rgb": [ + 0.0643550381627517, + 0.262508316097652, + 0.3370087127271315 + ], + "effective_peak_level_fraction": 0.7209459690781341, + "effective_vortex_level_rise_fraction": 0.18800810696940212, + "fill_fraction": 0.5329378621087321, + "opacity": 0.8248157291395213, + "present": true, + "vortex_level_rise_fraction": 0.18800810696940212 + }, + "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": 142990002, + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + } + }, + "render_fps": 30, + "resolution": [ + 1920, + 1200 + ], + "return_slot_offset_xy": [ + 0.075, + 0.0 + ], + "scene_id": "tube_drop/scene_000299", + "schema_version": 15, + "seed": 142990002, + "shared_state_file": "shared_state.npz", + "shared_state_sha256": "4e41ca05dab9e5d5ff111ed09f2df00927f69fcd5491863b9ee3a102f97efe65", + "simultaneous_camera_count": 3, + "source_tube_has_cap": true, + "start_slot_offset_xy": [ + 0.075, + 0.0 + ], + "subtype_event": { + "category": "tube_drop", + "event_phase": "transfer_to_rack", + "event_time_s": 11.658182742092809, + "is_failure": true, + "randomized_parameters": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "realized_outcome": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + } + }, + "table_color_rgb": [ + 0.18, + 0.48, + 0.28 + ], + "task": "vortexing", + "trajectory": { + "approach_pattern": "lean", + "approach_sway_m": 0.003091209116393882, + "depart_pattern": "s_sway", + "depart_sway_m": -0.011534521718337635, + "handling_noise_amplitude_m": 0.014878243167846358, + "handling_noise_frequency_hz": 1.2957653864632221, + "handling_noise_phase_xyz_rad": [ + 3.586540118681219, + 1.8969994330140523, + 1.1743583689201287 + ], + "lift_height_m": 0.16480686960063196, + "orientation_noise_deg": 0.45709958308633564, + "outbound_curve_bias": 0.22228303751655853, + "outbound_pattern": "s_curve", + "phase_boundaries_s": { + "final_hold": [ + 14.013952492699957, + 14.987744463019263 + ], + "initial_hold": [ + 0.0, + 1.185670314401659 + ], + "lift_from_rack": [ + 1.185670314401659, + 3.198673045538973 + ], + "lower_to_rack": [ + 12.564884151259752, + 14.013952492699957 + ], + "lower_to_vortex": [ + 5.061701351231783, + 5.824836869328576 + ], + "raise_from_vortex": [ + 9.321079501960497, + 10.593794131331615 + ], + "transfer_to_rack": [ + 10.593794131331615, + 12.564884151259752 + ], + "transfer_to_vortex": [ + 3.198673045538973, + 5.061701351231783 + ], + "vortex": [ + 5.824836869328576, + 9.321079501960497 + ] + }, + "pick_line_azimuth_deg": -40.27534311784541, + "pick_line_tilt_deg": 6.994319610852011, + "pick_pattern": "lean", + "pick_sway_m": 0.0053232592205744046, + "put_pattern": "s_sway", + "put_sway_m": -0.004467118367948006, + "rack_put_height_m": 0.321713484993524, + "return_bend_scale": 0.6234907547124391, + "return_curve_bias": -0.3270820499127453, + "return_pattern": "high_arc", + "return_side": 1.0, + "return_vertical_arc_scale": 0.8519475021597818, + "transfer_bend_m": 0.1496876099114624, + "transfer_side": 1.0, + "transport_tilt_deg": 4.027454761361841, + "vertical_arc_m": 0.23454006305556735, + "vortex_apparent_frequency_hz": 7.809163774682439, + "vortex_approach_height_m": 0.19184349666333356, + "vortex_depart_height_m": 0.14446964129072282, + "vortex_frequency_hz": 37.80916377468244, + "vortex_phase_rad": 4.523801162437212, + "vortex_radius_m": 0.0006586187793007892, + "vortex_tilt_deg": 0.31659513078543183 + }, + "trajectory_validation": { + "duration_s": 14.987744463019263, + "final_position_error_m": 0.0, + "finite": true, + "max_boundary_angular_jump_deg": 0.0, + "max_boundary_position_jump_m": 5.978733960281817e-16, + "max_quaternion_norm_error": 1.1102230246251565e-16, + "max_sample_step_m": 0.0043553595647689, + "valid": true, + "wrong_orientation_contact_error_m": 0.0, + "wrong_orientation_max_tilt_deg": 0.0, + "wrong_orientation_min_tilt_deg": 0.0, + "wrong_orientation_valid": true + }, + "tube_cap_present": true, + "tube_drop": { + "phase": "transfer_to_rack", + "phase_fraction": 0.5399999999999999, + "release_time_s": 11.658182742092809, + "target_surface": "table", + "vortex_release_azimuth_deg": 0.0, + "vortex_release_offset_m": 0.0, + "vortex_release_tilt_deg": 0.0 + }, + "tube_drop_physics": { + "actual_surface": "table", + "drop_pattern": "transport_free_fall", + "fall_distance_m": 0.5756889464068162, + "final_angular_speed_deg_s": 0.5711023211479187, + "final_linear_speed_mps": 0.0012584594078361988, + "final_position_m": [ + -0.19354592263698578, + 0.16195863485336304, + 0.7902500033378601 + ], + "final_protected_visual_minimum_z_m": 0.7902496390808545, + "final_surface": "table", + "first_impact_linear_speed_mps": 3.115410804748535, + "first_impact_position_m": [ + -0.19252365827560425, + 0.1603049337863922, + 0.7824127078056335 + ], + "first_impact_surface": "table", + "first_impact_time_s": 12.0, + "minimum_required_fall_distance_m": 0.045, + "minimum_root_z_m": 0.7824127078056335, + "post_release_scripted_control": false, + "release_angular_velocity_rad_s": [ + 0.0, + 0.0, + 0.0 + ], + "release_linear_velocity_mps": [ + 0.0, + 0.0, + 0.0 + ], + "release_mode": "physx_gravity_from_rest", + "release_phase": "transfer_to_rack", + "release_phase_fraction": 0.5399999999999999, + "release_position_m": [ + -0.19252365743393907, + 0.16030494709718537, + 1.3581016542124498 + ], + "release_time_s": 11.658182742092809, + "support_clearance_m": 0.0002496390808545135, + "support_surface_z_m": 0.79, + "target_surface": "table", + "valid": true, + "visual_surface_nonpenetration_valid": true, + "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": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "tube_start_position": [ + -0.2863703116510282, + 0.33934234028308624, + 0.8529 + ], + "video": "right.mp4", + "video_sha256": "ea5de93752fd54e82fe9d52c39ec84b408b2b9bd330e8185137760b58850e46f", + "video_validation": { + "actual_frame_count": 450, + "content_valid": true, + "decode_error": null, + "expected_frame_count": 450, + "frame_count_valid": true, + "full_decode_frame_count": 450, + "max_changed_pixel_fraction": 0.006875, + "mean_luminance": 140.36618041992188, + "motion_valid": true, + "resolution_valid": true, + "sampled_frame_indices": [ + 0, + 75, + 150, + 224, + 299, + 374, + 449 + ], + "spatial_standard_deviation": 36.28985595703125, + "valid": true + }, + "view_index": 2, + "view_order": [ + "left", + "front", + "right" + ], + "vortex_contact_position": [ + 0.0003946412229807045, + -0.021847635427856338, + 1.0070000000000001 + ], + "vortex_id": "VTX-001", + "vortex_position": [ + -0.04149205369984288, + -0.059616204217821156, + 0.79 + ], + "vortex_yaw_deg": -47.959520233930604, + "wrong_orientation": { + "azimuth_deg": -122.40504925759274, + "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": [ + 0.26087489257624086, + -0.37976339172468404, + 0.79 + ], + "rack_id": "TR-003", + "release_azimuth_deg": -125.23984176511848, + "release_lateral_offset_m": 0.016448549140026875, + "release_phase_fraction": 0.7119273570515968, + "release_tilt_deg": 29.848124522272318, + "release_time_s": 13.596515545768419, + "slot_offset_xy": [ + 0.02, + 0.0 + ], + "tube_target_position": [ + 0.2755553240861982, + -0.3933459147112816, + 0.8500000000000001 + ], + "yaw_deg": -42.77539495216159 + } +}