{ "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 } }