Download wrong_orientation/scene_000000/front.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 25.5 kB
-
https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/wrong_orientation/scene_000000/front.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/wrong_orientation/scene_000000/front.json
-
curl -L -o front.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/wrong_orientation/scene_000000/front.json
25.5 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.8351740826986019, | |
| 0.5654594398137448, | |
| 0.21585754523435424 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.5145944009647304, | |
| 0.627942389404673, | |
| 0.5536690222862666 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.24091367766280575, | |
| 0.2935868375272452, | |
| 0.24993787022776545 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.3586996681008664, | |
| 0.6982639786880392, | |
| 0.6765743470012432 | |
| ], | |
| "style": "wet_lab", | |
| "wall_color_rgb": [ | |
| 0.67616928964312, | |
| 0.7904475614707754, | |
| 0.7822776188616634 | |
| ] | |
| }, | |
| "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": [ | |
| 0.44672843437260945, | |
| 0.32258255222410603, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.059794985205235, | |
| "yaw_deg": -6.728735475375146 | |
| }, | |
| { | |
| "asset_id": "RES-009", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6790485438702962, | |
| -0.388782096812672, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1061376500179563, | |
| "yaw_deg": 20.968907237202927 | |
| }, | |
| { | |
| "asset_id": "RES-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.275022570232926, | |
| 1.0600811995701482, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0150893299044552, | |
| "yaw_deg": 24.982954985037992 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.3227491897558383, | |
| -0.38350842399384877, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9607140145910413, | |
| "yaw_deg": 24.00650866403933 | |
| }, | |
| { | |
| "asset_id": "RES-001", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5690420097998903, | |
| 1.1810398264306734, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0016418663707896, | |
| "yaw_deg": 78.60778537082581 | |
| }, | |
| { | |
| "asset_id": "PIP-001", | |
| "pitch_deg": -91.63555306979654, | |
| "position": [ | |
| -0.24017796330749286, | |
| 0.36392162903534936, | |
| 0.8079991922663223 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0203610650916781, | |
| "yaw_deg": -153.6145624587952 | |
| }, | |
| { | |
| "asset_id": "PIP-008", | |
| "pitch_deg": 87.90934066389298, | |
| "position": [ | |
| -0.6800388966809484, | |
| -0.06959942660252072, | |
| 0.8011490400730557 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.157504355766919, | |
| "yaw_deg": 14.651615040850828 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5559807176704867, | |
| -0.33519303872007916, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9405714794501255, | |
| "yaw_deg": 113.95953187663196 | |
| }, | |
| { | |
| "asset_id": "PIP-007", | |
| "pitch_deg": 87.04056547567525, | |
| "position": [ | |
| 0.4371816047404351, | |
| -0.21840010962284961, | |
| 0.8091702948802957 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8603822525481887, | |
| "yaw_deg": 131.86140650817612 | |
| } | |
| ], | |
| "duration_s": 17.2220850914673, | |
| "episode_id": 0, | |
| "error_type": "wrong_orientation", | |
| "frame_count": 517, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.92, | |
| 0.92, | |
| 0.940878149350823 | |
| ], | |
| "light_intensity": 1732.0212506649007, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.06137472505252607, | |
| 0.21462432507071896, | |
| 0.3956594715906906 | |
| ], | |
| "fill_fraction": 0.48419169937845485, | |
| "opacity": 0.8721569268197054, | |
| "vortex_level_rise_fraction": 0.20461458191134396 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "failure", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 2.47237283983248, | |
| "direction_azimuth_deg": 38.11246122500495, | |
| "lateral_speed_mps": 0.030457037580940347, | |
| "phase": "lift_from_rack", | |
| "phase_fraction": 0.30998473479191624, | |
| "release_clearance_m": 0.009116792775688574, | |
| "release_tilt_deg": 114.29633175190327, | |
| "stage": "pickup", | |
| "tip_duration_s": 0.4574995694555031, | |
| "trigger_time_s": 2.039367307294799, | |
| "tube_detach_fraction": 0.6119813149848414, | |
| "tube_engagement_fraction": 0.49737056930661044, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.0659361751286702 | |
| }, | |
| "rack_id": "TR-002", | |
| "rack_position": [ | |
| -0.4652748160935082, | |
| 0.20826447402625253, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": 51.40008668687648, | |
| "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": 9, | |
| "placements": [ | |
| { | |
| "asset_id": "TIP-006", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.44672843437260945, | |
| 0.32258255222410603, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.059794985205235, | |
| "yaw_deg": -6.728735475375146 | |
| }, | |
| { | |
| "asset_id": "RES-009", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6790485438702962, | |
| -0.388782096812672, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1061376500179563, | |
| "yaw_deg": 20.968907237202927 | |
| }, | |
| { | |
| "asset_id": "RES-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.275022570232926, | |
| 1.0600811995701482, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0150893299044552, | |
| "yaw_deg": 24.982954985037992 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.3227491897558383, | |
| -0.38350842399384877, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9607140145910413, | |
| "yaw_deg": 24.00650866403933 | |
| }, | |
| { | |
| "asset_id": "RES-001", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5690420097998903, | |
| 1.1810398264306734, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0016418663707896, | |
| "yaw_deg": 78.60778537082581 | |
| }, | |
| { | |
| "asset_id": "PIP-001", | |
| "pitch_deg": -91.63555306979654, | |
| "position": [ | |
| -0.24017796330749286, | |
| 0.36392162903534936, | |
| 0.8079991922663223 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0203610650916781, | |
| "yaw_deg": -153.6145624587952 | |
| }, | |
| { | |
| "asset_id": "PIP-008", | |
| "pitch_deg": 87.90934066389298, | |
| "position": [ | |
| -0.6800388966809484, | |
| -0.06959942660252072, | |
| 0.8011490400730557 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.157504355766919, | |
| "yaw_deg": 14.651615040850828 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5559807176704867, | |
| -0.33519303872007916, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9405714794501255, | |
| "yaw_deg": 113.95953187663196 | |
| }, | |
| { | |
| "asset_id": "PIP-007", | |
| "pitch_deg": 87.04056547567525, | |
| "position": [ | |
| 0.4371816047404351, | |
| -0.21840010962284961, | |
| 0.8091702948802957 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8603822525481887, | |
| "yaw_deg": 131.86140650817612 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.8351740826986019, | |
| 0.5654594398137448, | |
| 0.21585754523435424 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.5145944009647304, | |
| 0.627942389404673, | |
| 0.5536690222862666 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.24091367766280575, | |
| 0.2935868375272452, | |
| 0.24993787022776545 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.3586996681008664, | |
| 0.6982639786880392, | |
| 0.6765743470012432 | |
| ], | |
| "style": "wet_lab", | |
| "wall_color_rgb": [ | |
| 0.67616928964312, | |
| 0.7904475614707754, | |
| 0.7822776188616634 | |
| ] | |
| }, | |
| "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, | |
| 0.940878149350823 | |
| ], | |
| "light_intensity": 1732.0212506649007, | |
| "table_color_rgb": [ | |
| 0.36, | |
| 0.42, | |
| 0.48 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| -0.4652748160935082, | |
| 0.20826447402625253, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": -42.30050173540804, | |
| "rack_to_vortex_distance_m": 0.5937724245221481, | |
| "rack_yaw_deg": 51.40008668687648, | |
| "return_slot_offset_xy_m": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "returns_to_different_slot": true, | |
| "start_slot_offset_xy_m": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "tube_return_position_m": [ | |
| -0.433343225868952, | |
| 0.13926901369927863, | |
| 0.8152000000000001 | |
| ], | |
| "tube_start_position_m": [ | |
| -0.4652748160935082, | |
| 0.20826447402625253, | |
| 0.8152000000000001 | |
| ], | |
| "vortex_contact_position_m": [ | |
| -0.019267252666720795, | |
| -0.13537176452157518, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| -0.02610576700658218, | |
| -0.1913556436442611, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -6.9642637880116425 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.06137472505252607, | |
| 0.21462432507071896, | |
| 0.3956594715906906 | |
| ], | |
| "effective_peak_level_fraction": 0.6888062812897988, | |
| "effective_vortex_level_rise_fraction": 0.20461458191134396, | |
| "fill_fraction": 0.48419169937845485, | |
| "opacity": 0.8721569268197054, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.20461458191134396 | |
| }, | |
| "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": 25260909, | |
| "trajectory": { | |
| "approach_pattern": "lean", | |
| "approach_sway_m": 0.010808146774031429, | |
| "depart_pattern": "lean", | |
| "depart_sway_m": -0.004651251157948457, | |
| "handling_noise_amplitude_m": 0.008715053612366411, | |
| "handling_noise_frequency_hz": 2.013193687174828, | |
| "handling_noise_phase_xyz_rad": [ | |
| 1.9453836482764109, | |
| 4.265361282461632, | |
| 0.0677704983208227 | |
| ], | |
| "lift_height_m": 0.09908045704090118, | |
| "orientation_noise_deg": 5.019701744764497, | |
| "outbound_curve_bias": 0.5843519973870552, | |
| "outbound_pattern": "late_swoop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 16.11916510549478, | |
| 17.2220850914673 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.2950713231200117 | |
| ], | |
| "lift_from_rack": [ | |
| 1.2950713231200117, | |
| 3.6961443458751857 | |
| ], | |
| "lower_to_rack": [ | |
| 14.857481192334413, | |
| 16.11916510549478 | |
| ], | |
| "lower_to_vortex": [ | |
| 5.881187500497132, | |
| 6.6740127614797835 | |
| ], | |
| "raise_from_vortex": [ | |
| 10.379426082294472, | |
| 11.531047419917908 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.531047419917908, | |
| 14.857481192334413 | |
| ], | |
| "transfer_to_vortex": [ | |
| 3.6961443458751857, | |
| 5.881187500497132 | |
| ], | |
| "vortex": [ | |
| 6.6740127614797835, | |
| 10.379426082294472 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 132.57987630621022, | |
| "pick_line_tilt_deg": 5.403730247382657, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.00912879725296253, | |
| "put_pattern": "straight", | |
| "put_sway_m": -0.0033007236973021346, | |
| "rack_put_height_m": 0.23626469149413218, | |
| "return_bend_scale": 0.7867730581503737, | |
| "return_curve_bias": 0.08941631449868626, | |
| "return_pattern": "s_curve", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 0.9920962636314969, | |
| "transfer_bend_m": 0.17974787822338997, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 2.5710138302351697, | |
| "vertical_arc_m": 0.056121868403747846, | |
| "vortex_apparent_frequency_hz": 12.524757049096948, | |
| "vortex_approach_height_m": 0.31500391532036226, | |
| "vortex_depart_height_m": 0.3111908571250239, | |
| "vortex_frequency_hz": 42.52475704909695, | |
| "vortex_phase_rad": 0.8628022054391007, | |
| "vortex_radius_m": 0.0006411013418994371, | |
| "vortex_tilt_deg": 0.4202691308344333 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "scene_id": "wrong_orientation/scene_000000", | |
| "schema_version": 15, | |
| "seed": 25260909, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "535a0863d5e035f385c1d7419ed7c0d365ed86df0afeef5e82966cd37fe91d0c", | |
| "simultaneous_camera_count": 3, | |
| "source_tube_has_cap": true, | |
| "start_slot_offset_xy": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "subtype_event": { | |
| "category": "wrong_orientation", | |
| "event_phase": "vortex", | |
| "is_failure": true, | |
| "randomized_parameters": { | |
| "azimuth_deg": 16.59883835273314, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 44.334915290463634 | |
| }, | |
| "realized_outcome": { | |
| "azimuth_deg": 16.59883835273314, | |
| "liquid_level_rise_enabled": true, | |
| "orientation_mode": "tilted", | |
| "tilt_deg_from_z": 44.334915290463634, | |
| "vortex_motion_enabled": true | |
| }, | |
| "time_window_s": [ | |
| 6.6740127614797835, | |
| 10.379426082294472 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.36, | |
| 0.42, | |
| 0.48 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "lean", | |
| "approach_sway_m": 0.010808146774031429, | |
| "depart_pattern": "lean", | |
| "depart_sway_m": -0.004651251157948457, | |
| "handling_noise_amplitude_m": 0.008715053612366411, | |
| "handling_noise_frequency_hz": 2.013193687174828, | |
| "handling_noise_phase_xyz_rad": [ | |
| 1.9453836482764109, | |
| 4.265361282461632, | |
| 0.0677704983208227 | |
| ], | |
| "lift_height_m": 0.09908045704090118, | |
| "orientation_noise_deg": 5.019701744764497, | |
| "outbound_curve_bias": 0.5843519973870552, | |
| "outbound_pattern": "late_swoop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 16.11916510549478, | |
| 17.2220850914673 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.2950713231200117 | |
| ], | |
| "lift_from_rack": [ | |
| 1.2950713231200117, | |
| 3.6961443458751857 | |
| ], | |
| "lower_to_rack": [ | |
| 14.857481192334413, | |
| 16.11916510549478 | |
| ], | |
| "lower_to_vortex": [ | |
| 5.881187500497132, | |
| 6.6740127614797835 | |
| ], | |
| "raise_from_vortex": [ | |
| 10.379426082294472, | |
| 11.531047419917908 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.531047419917908, | |
| 14.857481192334413 | |
| ], | |
| "transfer_to_vortex": [ | |
| 3.6961443458751857, | |
| 5.881187500497132 | |
| ], | |
| "vortex": [ | |
| 6.6740127614797835, | |
| 10.379426082294472 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 132.57987630621022, | |
| "pick_line_tilt_deg": 5.403730247382657, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.00912879725296253, | |
| "put_pattern": "straight", | |
| "put_sway_m": -0.0033007236973021346, | |
| "rack_put_height_m": 0.23626469149413218, | |
| "return_bend_scale": 0.7867730581503737, | |
| "return_curve_bias": 0.08941631449868626, | |
| "return_pattern": "s_curve", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 0.9920962636314969, | |
| "transfer_bend_m": 0.17974787822338997, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 2.5710138302351697, | |
| "vertical_arc_m": 0.056121868403747846, | |
| "vortex_apparent_frequency_hz": 12.524757049096948, | |
| "vortex_approach_height_m": 0.31500391532036226, | |
| "vortex_depart_height_m": 0.3111908571250239, | |
| "vortex_frequency_hz": 42.52475704909695, | |
| "vortex_phase_rad": 0.8628022054391007, | |
| "vortex_radius_m": 0.0006411013418994371, | |
| "vortex_tilt_deg": 0.4202691308344333 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 17.2220850914673, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 4.460499975533616e-16, | |
| "max_quaternion_norm_error": 2.220446049250313e-16, | |
| "max_sample_step_m": 0.0030534374590343257, | |
| "valid": true, | |
| "wrong_orientation_contact_error_m": 0.0, | |
| "wrong_orientation_max_tilt_deg": 44.75227076110736, | |
| "wrong_orientation_min_tilt_deg": 43.914648501048276, | |
| "wrong_orientation_valid": true | |
| }, | |
| "tube_cap_present": true, | |
| "tube_drop": { | |
| "phase": "transfer_to_vortex", | |
| "phase_fraction": 0.28940669249992573, | |
| "release_time_s": 4.328510458223927, | |
| "target_surface": "table", | |
| "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": [ | |
| -0.433343225868952, | |
| 0.13926901369927863, | |
| 0.8152000000000001 | |
| ], | |
| "tube_start_position": [ | |
| -0.4652748160935082, | |
| 0.20826447402625253, | |
| 0.8152000000000001 | |
| ], | |
| "video": "front.mp4", | |
| "video_sha256": "49d636fb86197f6c637a14e29d69eaf572de59903c1b07fb7ef42f94e81a2d8a", | |
| "video_validation": { | |
| "actual_frame_count": 517, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 517, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 517, | |
| "max_changed_pixel_fraction": 0.012648871527777777, | |
| "mean_luminance": 136.98178100585938, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 86, | |
| 172, | |
| 258, | |
| 344, | |
| 430, | |
| 516 | |
| ], | |
| "spatial_standard_deviation": 32.21488571166992, | |
| "valid": true | |
| }, | |
| "view_index": 1, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| -0.019267252666720795, | |
| -0.13537176452157518, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_id": "VTX-001", | |
| "vortex_position": [ | |
| -0.02610576700658218, | |
| -0.1913556436442611, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -6.9642637880116425, | |
| "wrong_orientation": { | |
| "azimuth_deg": 16.59883835273314, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 44.334915290463634 | |
| }, | |
| "wrong_rack": { | |
| "hole_relation": "too_small", | |
| "insertion_depth_m": 0.0, | |
| "insertion_succeeds": false, | |
| "placement_outcome": "physx_drop_pending", | |
| "position": [ | |
| 0.28745801709507735, | |
| -0.3445314446264445, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": -159.92171570863115, | |
| "release_lateral_offset_m": 0.019885445589203046, | |
| "release_phase_fraction": 0.7755719587568235, | |
| "release_tilt_deg": 35.69097794429054, | |
| "release_time_s": 15.836007856196172, | |
| "slot_offset_xy": [ | |
| 0.02, | |
| 0.0 | |
| ], | |
| "tube_target_position": [ | |
| 0.3041856147509398, | |
| -0.33356843971612976, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": 33.24020440450401 | |
| } | |
| } | |