{ "background": { "accent_color_rgb": [ 0.8607147074751107, 0.5199029940799408, 0.15578931216224476 ], "cabinet_color_rgb": [ 0.4960652423493174, 0.6169043296260928, 0.5694980053412294 ], "floor_color_rgb": [ 0.27573782902347144, 0.27971688959910745, 0.3123253768557325 ], "screen_color_rgb": [ 0.35234574468832197, 0.6950642960580845, 0.6465656479622501 ], "style": "wet_lab", "wall_color_rgb": [ 0.7286955288312464, 0.8282768960869785, 0.7618299241006738 ] }, "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": [ 0.5937554145519311, -0.16282736234928658, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0356772564493226, "yaw_deg": -154.22382066300432 }, { "asset_id": "TIP-006", "pitch_deg": 0.0, "position": [ 0.049290269144407595, -0.20496203700763585, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9143071230650441, "yaw_deg": 0.5301769030205605 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.3612498244291682, 1.1584428677679526, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.1619480381223832, "yaw_deg": 52.507213840583006 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ 0.007526325170293946, 1.0507146044137263, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.1356188978502855, "yaw_deg": -173.49538528771228 }, { "asset_id": "PIP-018", "pitch_deg": 86.5556656301734, "position": [ -0.21087973458043874, 0.16701618447418148, 0.8333162577549313 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0771385598724854, "yaw_deg": -15.002022944063725 } ], "duration_s": 14.824673294754659, "episode_id": 21, "error_type": "cap_open", "frame_count": 445, "generation_success": true, "light_color_rgb": [ 0.92, 0.92, 0.9828665841908533 ], "light_intensity": 2191.5513093123386, "liquid": { "color_rgb": [ 0.371794743645103, 0.1932002264022396, 0.04881931665226067 ], "fill_fraction": 0.4148270529604193, "opacity": 0.9336878096730395, "vortex_level_rise_fraction": 0.19542471376574003 }, "metadata_schema_version": 2, "outcome": "failure", "rack_flip": { "angular_speed_rad_s": 1.7744835925167495, "direction_azimuth_deg": 41.26724961439905, "lateral_speed_mps": 0.03144674104344255, "phase": "lift_from_rack", "phase_fraction": 0.4083070943052345, "release_clearance_m": 0.004217620825766182, "release_tilt_deg": 125.36834318061065, "stage": "pickup", "tip_duration_s": 0.4694788705043928, "trigger_time_s": 1.6622379416743285, "tube_detach_fraction": 0.5967553512516135, "tube_engagement_fraction": 0.5029608876458789, "tube_on_rack": true, "upward_speed_mps": 0.04773838910235434 }, "rack_id": "TR-004", "rack_position": [ 0.09803099237678314, 0.2606660598840405, 0.79 ], "rack_yaw_deg": -18.33420411765855, "randomization_results": { "assets": { "rack_id": "TR-004", "source_tube_has_cap": true, "tube_cap_present": false, "tube_id": "CT-005", "vortex_id": "VTX-005" }, "distractors": { "count": 5, "placements": [ { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ 0.5937554145519311, -0.16282736234928658, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0356772564493226, "yaw_deg": -154.22382066300432 }, { "asset_id": "TIP-006", "pitch_deg": 0.0, "position": [ 0.049290269144407595, -0.20496203700763585, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9143071230650441, "yaw_deg": 0.5301769030205605 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.3612498244291682, 1.1584428677679526, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.1619480381223832, "yaw_deg": 52.507213840583006 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ 0.007526325170293946, 1.0507146044137263, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.1356188978502855, "yaw_deg": -173.49538528771228 }, { "asset_id": "PIP-018", "pitch_deg": 86.5556656301734, "position": [ -0.21087973458043874, 0.16701618447418148, 0.8333162577549313 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0771385598724854, "yaw_deg": -15.002022944063725 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8607147074751107, 0.5199029940799408, 0.15578931216224476 ], "cabinet_color_rgb": [ 0.4960652423493174, 0.6169043296260928, 0.5694980053412294 ], "floor_color_rgb": [ 0.27573782902347144, 0.27971688959910745, 0.3123253768557325 ], "screen_color_rgb": [ 0.35234574468832197, 0.6950642960580845, 0.6465656479622501 ], "style": "wet_lab", "wall_color_rgb": [ 0.7286955288312464, 0.8282768960869785, 0.7618299241006738 ] }, "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, 0.9828665841908533 ], "light_intensity": 2191.5513093123386, "table_color_rgb": [ 0.18, 0.48, 0.28 ] }, "layout": { "rack_position_m": [ 0.09803099237678314, 0.2606660598840405, 0.79 ], "rack_to_vortex_bearing_deg": -178.69207634941208, "rack_to_vortex_distance_m": 0.6615288876052443, "rack_yaw_deg": -18.33420411765855, "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": [ 0.12176193895166709, 0.2528020803151451, 0.8394 ], "tube_start_position_m": [ 0.0743000458018992, 0.2685300394529359, 0.8394 ], "vortex_contact_position_m": [ -0.545513824705443, 0.280016855549303, 0.9580000000000001 ], "vortex_position_m": [ -0.5633255419773515, 0.24556627169611417, 0.79 ], "vortex_yaw_deg": -18.290537711349778 }, "liquid": { "color_rgb": [ 0.371794743645103, 0.1932002264022396, 0.04881931665226067 ], "effective_peak_level_fraction": 0.6102517667261593, "effective_vortex_level_rise_fraction": 0.19542471376574003, "fill_fraction": 0.4148270529604193, "opacity": 0.9336878096730395, "present": true, "vortex_level_rise_fraction": 0.19542471376574003 }, "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": 23470909, "trajectory": { "approach_pattern": "lean", "approach_sway_m": 0.004769590367751165, "depart_pattern": "lean", "depart_sway_m": -0.0026811239921452194, "handling_noise_amplitude_m": 0.012699353674003034, "handling_noise_frequency_hz": 2.771727199238682, "handling_noise_phase_xyz_rad": [ 2.3955250415424585, 0.394421051561921, 3.1467232460348846 ], "lift_height_m": 0.10108767686432768, "orientation_noise_deg": 2.762110043681612, "outbound_curve_bias": 0.3200856549027189, "outbound_pattern": "zigzag", "phase_boundaries_s": { "final_hold": [ 13.934694825826274, 14.824673294754659 ], "initial_hold": [ 0.0, 1.1254950716573782 ], "lift_from_rack": [ 1.1254950716573782, 2.440051878293959 ], "lower_to_rack": [ 13.150699700082626, 13.934694825826274 ], "lower_to_vortex": [ 4.987961133019982, 5.680804561068989 ], "raise_from_vortex": [ 9.876773739454144, 11.068385170968396 ], "transfer_to_rack": [ 11.068385170968396, 13.150699700082626 ], "transfer_to_vortex": [ 2.440051878293959, 4.987961133019982 ], "vortex": [ 5.680804561068989, 9.876773739454144 ] }, "pick_line_azimuth_deg": -132.82442981858722, "pick_line_tilt_deg": 4.30634348109829, "pick_pattern": "s_sway", "pick_sway_m": -0.002159539607515723, "put_pattern": "spiral", "put_sway_m": 0.0036673287635968464, "rack_put_height_m": 0.1855512212636417, "return_bend_scale": 0.46616849513698666, "return_curve_bias": -0.25375791839066875, "return_pattern": "zigzag", "return_side": 1.0, "return_vertical_arc_scale": 1.0194081072144934, "transfer_bend_m": 0.10498443298531107, "transfer_side": 1.0, "transport_tilt_deg": 12.808516986056535, "vertical_arc_m": 0.25891107435440336, "vortex_apparent_frequency_hz": 5.360873919763776, "vortex_approach_height_m": 0.3091654430861911, "vortex_depart_height_m": 0.3502649693486546, "vortex_frequency_hz": 35.360873919763776, "vortex_phase_rad": 0.8719249805000289, "vortex_radius_m": 0.0003876059810669974, "vortex_tilt_deg": 0.7216135682501237 } }, "render_and_primary_validation_seconds": 21.927060940070078, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.025, 0.0 ], "scene_id": "cap_open/scene_000021", "schema_version": 15, "seed": 23470909, "shared_state_sha256": "a8dfba7c510f366bcff13c2cfdffa5fdc5249245a3d55d30e69bece99aa63fed", "source_tube_has_cap": true, "start_slot_offset_xy": [ -0.025, 0.0 ], "subtype_event": { "category": "cap_open", "event_phase": "whole_episode", "is_failure": true, "randomized_parameters": { "cap_removed_before_first_frame": true }, "realized_outcome": { "cap_absent_for_entire_episode": true, "source_tube_has_cap": true, "tube_cap_present": false }, "time_window_s": [ 0.0, 14.824673294754659 ] }, "table_color_rgb": [ 0.18, 0.48, 0.28 ], "task": "vortexing", "trajectory": { "approach_pattern": "lean", "approach_sway_m": 0.004769590367751165, "depart_pattern": "lean", "depart_sway_m": -0.0026811239921452194, "handling_noise_amplitude_m": 0.012699353674003034, "handling_noise_frequency_hz": 2.771727199238682, "handling_noise_phase_xyz_rad": [ 2.3955250415424585, 0.394421051561921, 3.1467232460348846 ], "lift_height_m": 0.10108767686432768, "orientation_noise_deg": 2.762110043681612, "outbound_curve_bias": 0.3200856549027189, "outbound_pattern": "zigzag", "phase_boundaries_s": { "final_hold": [ 13.934694825826274, 14.824673294754659 ], "initial_hold": [ 0.0, 1.1254950716573782 ], "lift_from_rack": [ 1.1254950716573782, 2.440051878293959 ], "lower_to_rack": [ 13.150699700082626, 13.934694825826274 ], "lower_to_vortex": [ 4.987961133019982, 5.680804561068989 ], "raise_from_vortex": [ 9.876773739454144, 11.068385170968396 ], "transfer_to_rack": [ 11.068385170968396, 13.150699700082626 ], "transfer_to_vortex": [ 2.440051878293959, 4.987961133019982 ], "vortex": [ 5.680804561068989, 9.876773739454144 ] }, "pick_line_azimuth_deg": -132.82442981858722, "pick_line_tilt_deg": 4.30634348109829, "pick_pattern": "s_sway", "pick_sway_m": -0.002159539607515723, "put_pattern": "spiral", "put_sway_m": 0.0036673287635968464, "rack_put_height_m": 0.1855512212636417, "return_bend_scale": 0.46616849513698666, "return_curve_bias": -0.25375791839066875, "return_pattern": "zigzag", "return_side": 1.0, "return_vertical_arc_scale": 1.0194081072144934, "transfer_bend_m": 0.10498443298531107, "transfer_side": 1.0, "transport_tilt_deg": 12.808516986056535, "vertical_arc_m": 0.25891107435440336, "vortex_apparent_frequency_hz": 5.360873919763776, "vortex_approach_height_m": 0.3091654430861911, "vortex_depart_height_m": 0.3502649693486546, "vortex_frequency_hz": 35.360873919763776, "vortex_phase_rad": 0.8719249805000289, "vortex_radius_m": 0.0003876059810669974, "vortex_tilt_deg": 0.7216135682501237 }, "trajectory_validation": { "duration_s": 14.824673294754659, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 5.688200336284365e-16, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.003654649607619054, "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": false, "tube_drop": { "phase": "transfer_to_vortex", "phase_fraction": 0.7862298700086083, "release_time_s": 4.44329424043093, "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": [ 0.12176193895166709, 0.2528020803151451, 0.8394 ], "tube_start_position": [ 0.0743000458018992, 0.2685300394529359, 0.8394 ], "video": "left.mp4", "video_validation": { "actual_frame_count": 445, "content_valid": true, "decode_error": null, "expected_frame_count": 445, "frame_count_valid": true, "max_changed_pixel_fraction": 0.006607638888888889, "mean_luminance": 138.47718811035156, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 74, 148, 222, 296, 370, 444 ], "spatial_standard_deviation": 35.36164474487305, "valid": true }, "views": { "front": { "bytes": 20727128, "metadata": "front.json", "sha256": "c1e60aef60c8e0abc8c80624481b4ee77fa494c2fd7371b2a73c043b9e419eb9", "video": "front.mp4" }, "left": { "bytes": 20432374, "metadata": "left.json", "sha256": "aeb616c225b8f157339e84fd6af5d7d381b881aa4253d82996b1f68102da2612", "video": "left.mp4" }, "right": { "bytes": 18999661, "metadata": "right.json", "sha256": "a1e6c03ea1bd039a63cd466349c247b66d4b83fc96e6a9b48892a0850fb10488", "video": "right.mp4" } }, "vortex_contact_position": [ -0.545513824705443, 0.280016855549303, 0.9580000000000001 ], "vortex_id": "VTX-005", "vortex_position": [ -0.5633255419773515, 0.24556627169611417, 0.79 ], "vortex_yaw_deg": -18.290537711349778, "worker_elapsed_seconds": 38.755241211969405, "wrong_orientation": { "azimuth_deg": 58.957610681082, "mode": "tilted", "tilt_deg_from_z": 46.95932073332642 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.38998604019230504, -0.2152383459836649, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -88.81796110611282, "release_lateral_offset_m": 0.017671371355761387, "release_phase_fraction": 0.6565302257756216, "release_tilt_deg": 26.78540818567466, "release_time_s": 13.665416196994089, "slot_offset_xy": [ 0.02, 0.0 ], "tube_target_position": [ -0.382165140102002, -0.19683091482726783, 0.8500000000000001 ], "yaw_deg": 66.98046172867564 } }