{ "background": { "accent_color_rgb": [ 0.9116574193191773, 0.5149517897747125, 0.18215147792900402 ], "cabinet_color_rgb": [ 0.5309066194867025, 0.5666363360850113, 0.5692097878676959 ], "floor_color_rgb": [ 0.25460777335675466, 0.33736757808496043, 0.24350383136482767 ], "screen_color_rgb": [ 0.36237737451444463, 0.6952359944866187, 0.6793444970041763 ], "style": "wet_lab", "wall_color_rgb": [ 0.6866450083865706, 0.7781891633912081, 0.7809070887284164 ] }, "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": [ -0.15039981914444667, 1.1711116899380003, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.982936326583145, "yaw_deg": 132.53675279329218 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ 0.634462578193535, -0.20734459010323592, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0363539192054525, "yaw_deg": 128.0809423264775 }, { "asset_id": "AUX-TR-004", "pitch_deg": 0.0, "position": [ 0.4582044794645692, 1.0911134992779468, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9119517496065777, "yaw_deg": -95.79298382359677 }, { "asset_id": "PIP-017", "pitch_deg": 90.61654910682307, "position": [ 0.19361986941353748, 1.0615193075852123, 0.8532963040535939 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8156101629192817, "yaw_deg": 41.18852436001035 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.20346160862604745, 0.07331141585064416, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.162887668934343, "yaw_deg": 88.22123528886766 } ], "duration_s": 16.968800151044835, "episode_id": 28, "error_type": "cap_open", "frame_count": 509, "generation_success": true, "light_color_rgb": [ 0.9292838085266568, 0.92, 0.92 ], "light_intensity": 2277.84115143502, "liquid": { "color_rgb": [ 0.39752625945621445, 0.22915714817460925, 0.03854925910937898 ], "fill_fraction": 0.4366134367554445, "opacity": 0.9261838831553738, "vortex_level_rise_fraction": 0.18634390081118243 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 1.615038403387313, "direction_azimuth_deg": -150.23377780697925, "lateral_speed_mps": 0.0503749582422848, "phase": "lower_to_rack", "phase_fraction": 0.8017330883627221, "release_clearance_m": 0.009033276660607329, "release_tilt_deg": 140.6838690309885, "stage": "insertion", "tip_duration_s": 0.3921088034257614, "trigger_time_s": 15.824334579670108, "tube_detach_fraction": 0.6037809433520188, "tube_engagement_fraction": 0.5359320519078067, "tube_on_rack": true, "upward_speed_mps": 0.05845632057967565 }, "rack_id": "TR-002", "rack_position": [ 0.5656042818753453, 0.19315670027028548, 0.79 ], "rack_yaw_deg": -17.99985369502322, "randomization_results": { "assets": { "rack_id": "TR-002", "source_tube_has_cap": true, "tube_cap_present": false, "tube_id": "CT-005", "vortex_id": "VTX-003" }, "distractors": { "count": 5, "placements": [ { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.15039981914444667, 1.1711116899380003, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.982936326583145, "yaw_deg": 132.53675279329218 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ 0.634462578193535, -0.20734459010323592, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0363539192054525, "yaw_deg": 128.0809423264775 }, { "asset_id": "AUX-TR-004", "pitch_deg": 0.0, "position": [ 0.4582044794645692, 1.0911134992779468, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9119517496065777, "yaw_deg": -95.79298382359677 }, { "asset_id": "PIP-017", "pitch_deg": 90.61654910682307, "position": [ 0.19361986941353748, 1.0615193075852123, 0.8532963040535939 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8156101629192817, "yaw_deg": 41.18852436001035 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.20346160862604745, 0.07331141585064416, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.162887668934343, "yaw_deg": 88.22123528886766 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.9116574193191773, 0.5149517897747125, 0.18215147792900402 ], "cabinet_color_rgb": [ 0.5309066194867025, 0.5666363360850113, 0.5692097878676959 ], "floor_color_rgb": [ 0.25460777335675466, 0.33736757808496043, 0.24350383136482767 ], "screen_color_rgb": [ 0.36237737451444463, 0.6952359944866187, 0.6793444970041763 ], "style": "wet_lab", "wall_color_rgb": [ 0.6866450083865706, 0.7781891633912081, 0.7809070887284164 ] }, "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": [ 0.9292838085266568, 0.92, 0.92 ], "light_intensity": 2277.84115143502, "table_color_rgb": [ 0.16, 0.42, 0.46 ] }, "layout": { "rack_position_m": [ 0.5656042818753453, 0.19315670027028548, 0.79 ], "rack_to_vortex_bearing_deg": -175.72803557828823, "rack_to_vortex_distance_m": 0.9881170768842903, "rack_yaw_deg": -17.99985369502322, "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": [ 0.609263188162726, 0.10747181302761175, 0.8152000000000001 ], "tube_start_position_m": [ 0.609263188162726, 0.10747181302761175, 0.8152000000000001 ], "vortex_contact_position_m": [ -0.38195959363023413, 0.16393003802126516, 1.0265 ], "vortex_position_m": [ -0.41976751153168324, 0.1195510864343103, 0.79 ], "vortex_yaw_deg": -40.23223708463317 }, "liquid": { "color_rgb": [ 0.39752625945621445, 0.22915714817460925, 0.03854925910937898 ], "effective_peak_level_fraction": 0.622957337566627, "effective_vortex_level_rise_fraction": 0.18634390081118243, "fill_fraction": 0.4366134367554445, "opacity": 0.9261838831553738, "present": true, "vortex_level_rise_fraction": 0.18634390081118243 }, "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": 23540909, "trajectory": { "approach_pattern": "spiral", "approach_sway_m": 0.009362096911489865, "depart_pattern": "hook", "depart_sway_m": 0.002798880784802305, "handling_noise_amplitude_m": 0.002172104887169204, "handling_noise_frequency_hz": 1.6603577574614516, "handling_noise_phase_xyz_rad": [ 4.081244460456182, 5.434568678805183, 3.6831343820323847 ], "lift_height_m": 0.16449518338298794, "orientation_noise_deg": 6.1433882967153, "outbound_curve_bias": 0.2193629769171368, "outbound_pattern": "zigzag", "phase_boundaries_s": { "final_hold": [ 16.07691586236298, 16.968800151044835 ], "initial_hold": [ 0.0, 1.0834205406977757 ], "lift_from_rack": [ 1.0834205406977757, 2.4371280720031114 ], "lower_to_rack": [ 14.80297014642344, 16.07691586236298 ], "lower_to_vortex": [ 5.733851186472831, 6.864380387088872 ], "raise_from_vortex": [ 10.464794438440835, 11.461575325613595 ], "transfer_to_rack": [ 11.461575325613595, 14.80297014642344 ], "transfer_to_vortex": [ 2.4371280720031114, 5.733851186472831 ], "vortex": [ 6.864380387088872, 10.464794438440835 ] }, "pick_line_azimuth_deg": 110.25650065463418, "pick_line_tilt_deg": 5.169100695251875, "pick_pattern": "lean", "pick_sway_m": -0.008955476225403967, "put_pattern": "lean", "put_sway_m": 0.0020488878492744764, "rack_put_height_m": 0.28533991242889634, "return_bend_scale": 1.6098475850482477, "return_curve_bias": 0.016572194793207484, "return_pattern": "double_s", "return_side": -1.0, "return_vertical_arc_scale": 1.6364313489990334, "transfer_bend_m": 0.2635641332718237, "transfer_side": 1.0, "transport_tilt_deg": 6.815676673289985, "vertical_arc_m": 0.23492791886684816, "vortex_apparent_frequency_hz": 9.523801768321263, "vortex_approach_height_m": 0.27286085101445695, "vortex_depart_height_m": 0.22038428698595036, "vortex_frequency_hz": 39.52380176832126, "vortex_phase_rad": 0.4749014297669138, "vortex_radius_m": 0.0006706658583398185, "vortex_tilt_deg": 0.7358681117930306 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.068, -0.068 ], "scene_id": "cap_open/scene_000028", "schema_version": 15, "seed": 23540909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "9fef82d00b4353aef296b98e1b1a59a8ea23cfce1bd3bd39a36fcba6979f3857", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ 0.068, -0.068 ], "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, 16.968800151044835 ] }, "table_color_rgb": [ 0.16, 0.42, 0.46 ], "task": "vortexing", "trajectory": { "approach_pattern": "spiral", "approach_sway_m": 0.009362096911489865, "depart_pattern": "hook", "depart_sway_m": 0.002798880784802305, "handling_noise_amplitude_m": 0.002172104887169204, "handling_noise_frequency_hz": 1.6603577574614516, "handling_noise_phase_xyz_rad": [ 4.081244460456182, 5.434568678805183, 3.6831343820323847 ], "lift_height_m": 0.16449518338298794, "orientation_noise_deg": 6.1433882967153, "outbound_curve_bias": 0.2193629769171368, "outbound_pattern": "zigzag", "phase_boundaries_s": { "final_hold": [ 16.07691586236298, 16.968800151044835 ], "initial_hold": [ 0.0, 1.0834205406977757 ], "lift_from_rack": [ 1.0834205406977757, 2.4371280720031114 ], "lower_to_rack": [ 14.80297014642344, 16.07691586236298 ], "lower_to_vortex": [ 5.733851186472831, 6.864380387088872 ], "raise_from_vortex": [ 10.464794438440835, 11.461575325613595 ], "transfer_to_rack": [ 11.461575325613595, 14.80297014642344 ], "transfer_to_vortex": [ 2.4371280720031114, 5.733851186472831 ], "vortex": [ 6.864380387088872, 10.464794438440835 ] }, "pick_line_azimuth_deg": 110.25650065463418, "pick_line_tilt_deg": 5.169100695251875, "pick_pattern": "lean", "pick_sway_m": -0.008955476225403967, "put_pattern": "lean", "put_sway_m": 0.0020488878492744764, "rack_put_height_m": 0.28533991242889634, "return_bend_scale": 1.6098475850482477, "return_curve_bias": 0.016572194793207484, "return_pattern": "double_s", "return_side": -1.0, "return_vertical_arc_scale": 1.6364313489990334, "transfer_bend_m": 0.2635641332718237, "transfer_side": 1.0, "transport_tilt_deg": 6.815676673289985, "vertical_arc_m": 0.23492791886684816, "vortex_apparent_frequency_hz": 9.523801768321263, "vortex_approach_height_m": 0.27286085101445695, "vortex_depart_height_m": 0.22038428698595036, "vortex_frequency_hz": 39.52380176832126, "vortex_phase_rad": 0.4749014297669138, "vortex_radius_m": 0.0006706658583398185, "vortex_tilt_deg": 0.7358681117930306 }, "trajectory_validation": { "duration_s": 16.968800151044835, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 4.7324680809584215e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.005872252611201132, "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": 0.45999999999999996, "release_time_s": 3.9536207046591825, "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": [ 0.609263188162726, 0.10747181302761175, 0.8152000000000001 ], "tube_start_position": [ 0.609263188162726, 0.10747181302761175, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "04244d36bb4f23c8a8981a904dcb8717b239e29b126cf7ae6a9ac6c0f4528de9", "video_validation": { "actual_frame_count": 509, "content_valid": true, "decode_error": null, "expected_frame_count": 509, "frame_count_valid": true, "full_decode_frame_count": 509, "max_changed_pixel_fraction": 0.0091875, "mean_luminance": 138.11036682128906, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 85, 169, 254, 339, 423, 508 ], "spatial_standard_deviation": 34.06370544433594, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.38195959363023413, 0.16393003802126516, 1.0265 ], "vortex_id": "VTX-003", "vortex_position": [ -0.41976751153168324, 0.1195510864343103, 0.79 ], "vortex_yaw_deg": -40.23223708463317, "wrong_orientation": { "azimuth_deg": 127.17387832307497, "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": [ 0.12277344693165504, -0.3845281786449718, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -25.118683393534212, "release_lateral_offset_m": 0.014919207698809517, "release_phase_fraction": 0.7427677274468242, "release_tilt_deg": 22.83345762478931, "release_time_s": 15.74921591074247, "slot_offset_xy": [ 0.04, -0.019 ], "tube_target_position": [ 0.13880019798282373, -0.42580944861991155, 0.8500000000000001 ], "yaw_deg": -43.374426824129536 } }