{ "background": { "accent_color_rgb": [ 0.8431485635761826, 0.5122389264500001, 0.17958082109631612 ], "cabinet_color_rgb": [ 0.4929781243112169, 0.6267839706577574, 0.5586630106180552 ], "floor_color_rgb": [ 0.22982320434049996, 0.3079151771135025, 0.24382053898469463 ], "screen_color_rgb": [ 0.35177148147582665, 0.7192968114018359, 0.6725722057231698 ], "style": "wet_lab", "wall_color_rgb": [ 0.6959600117016687, 0.786156930897304, 0.7269129276394392 ] }, "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": 0.0, "position": [ -0.016960205402252515, -0.22791404000451668, 0.8009365687475773 ], "roll_deg": -89.55445558656459, "surface": "main_table", "uniform_scale": 1.1468756865469616, "yaw_deg": 92.53964936203744 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ 0.1894008801060716, 0.15614352947164128, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9473385062699782, "yaw_deg": -173.2426925146565 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ 0.5273920772409265, -0.36210870898051756, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0705459075708352, "yaw_deg": -22.768814185881155 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ 0.5005603711168859, 0.4087480494844229, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1187221702786432, "yaw_deg": 98.92987592866257 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ -0.18107626360331464, 1.1062393291318076, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8780078880854837, "yaw_deg": 111.91967153430278 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.807311839812903, 1.2118822016620672, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9881778900876153, "yaw_deg": -151.47947055667024 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.2794793241213891, -0.3105833574674748, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7831163194225148, "yaw_deg": 22.52602884484193 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.024020552936862227, 0.39677073015822645, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0239153353964918, "yaw_deg": 60.71043606733997 } ], "duration_s": 16.299041717158932, "episode_id": 39, "error_type": "cap_open", "frame_count": 489, "generation_success": true, "light_color_rgb": [ 0.969749935052161, 0.92, 0.92 ], "light_intensity": 1681.9182016855034, "liquid": { "color_rgb": [ 0.3235963458647955, 0.10203569996538402, 0.17346135856058467 ], "fill_fraction": 0.5515406205335355, "opacity": 0.8830899249321524, "vortex_level_rise_fraction": 0.22131300465207066 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.2482079355915507, "direction_azimuth_deg": 25.919699194879342, "lateral_speed_mps": 0.03650440469486983, "phase": "lift_from_rack", "phase_fraction": 0.41532632904195843, "release_clearance_m": 0.007273614995266841, "release_tilt_deg": 130.58190275668056, "stage": "pickup", "tip_duration_s": 0.31035012483142, "trigger_time_s": 1.4259433162736248, "tube_detach_fraction": 0.48425139575603526, "tube_engagement_fraction": 0.39374350291089216, "tube_on_rack": true, "upward_speed_mps": 0.05392878853932033 }, "rack_id": "TR-004", "rack_position": [ 0.5462004845429687, -0.09905701683172524, 0.79 ], "rack_yaw_deg": 50.02223240328111, "randomization_results": { "assets": { "rack_id": "TR-004", "source_tube_has_cap": true, "tube_cap_present": false, "tube_id": "CT-009", "vortex_id": "VTX-005" }, "distractors": { "count": 8, "placements": [ { "asset_id": "PIP-007", "pitch_deg": 0.0, "position": [ -0.016960205402252515, -0.22791404000451668, 0.8009365687475773 ], "roll_deg": -89.55445558656459, "surface": "main_table", "uniform_scale": 1.1468756865469616, "yaw_deg": 92.53964936203744 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ 0.1894008801060716, 0.15614352947164128, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9473385062699782, "yaw_deg": -173.2426925146565 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ 0.5273920772409265, -0.36210870898051756, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0705459075708352, "yaw_deg": -22.768814185881155 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ 0.5005603711168859, 0.4087480494844229, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1187221702786432, "yaw_deg": 98.92987592866257 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ -0.18107626360331464, 1.1062393291318076, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8780078880854837, "yaw_deg": 111.91967153430278 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.807311839812903, 1.2118822016620672, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9881778900876153, "yaw_deg": -151.47947055667024 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.2794793241213891, -0.3105833574674748, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7831163194225148, "yaw_deg": 22.52602884484193 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.024020552936862227, 0.39677073015822645, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0239153353964918, "yaw_deg": 60.71043606733997 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8431485635761826, 0.5122389264500001, 0.17958082109631612 ], "cabinet_color_rgb": [ 0.4929781243112169, 0.6267839706577574, 0.5586630106180552 ], "floor_color_rgb": [ 0.22982320434049996, 0.3079151771135025, 0.24382053898469463 ], "screen_color_rgb": [ 0.35177148147582665, 0.7192968114018359, 0.6725722057231698 ], "style": "wet_lab", "wall_color_rgb": [ 0.6959600117016687, 0.786156930897304, 0.7269129276394392 ] }, "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": [ 0.969749935052161, 0.92, 0.92 ], "light_intensity": 1681.9182016855034, "table_color_rgb": [ 0.5, 0.46, 0.38 ] }, "layout": { "rack_position_m": [ 0.5462004845429687, -0.09905701683172524, 0.79 ], "rack_to_vortex_bearing_deg": 164.5818950219089, "rack_to_vortex_distance_m": 0.8437772691010217, "rack_yaw_deg": 50.02223240328111, "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": [ 0.49801371098388436, -0.15652905223996127, 0.8529 ], "tube_start_position_m": [ 0.5622627423959967, -0.07989967169564656, 0.8529 ], "vortex_contact_position_m": [ -0.24635669662102622, 0.1579691803341568, 0.9580000000000001 ], "vortex_position_m": [ -0.26721045790362485, 0.12527024089618127, 0.79 ], "vortex_yaw_deg": -23.4782794471472 }, "liquid": { "color_rgb": [ 0.3235963458647955, 0.10203569996538402, 0.17346135856058467 ], "effective_peak_level_fraction": 0.7728536251856062, "effective_vortex_level_rise_fraction": 0.22131300465207066, "fill_fraction": 0.5515406205335355, "opacity": 0.8830899249321524, "present": true, "vortex_level_rise_fraction": 0.22131300465207066 }, "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": 23650910, "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": 0.008066593388843782, "depart_pattern": "s_sway", "depart_sway_m": -0.002153546678137514, "handling_noise_amplitude_m": 0.004607312295749887, "handling_noise_frequency_hz": 1.7053098735274772, "handling_noise_phase_xyz_rad": [ 4.275959006863852, 3.350000256588705, 2.3624660606677033 ], "lift_height_m": 0.09510012292050299, "orientation_noise_deg": 3.849471373901405, "outbound_curve_bias": 0.5258648554374674, "outbound_pattern": "crescent", "phase_boundaries_s": { "final_hold": [ 15.58236602623341, 16.299041717158932 ], "initial_hold": [ 0.0, 0.9250973187221578 ], "lift_from_rack": [ 0.9250973187221578, 2.1310068951912884 ], "lower_to_rack": [ 14.950163166942932, 15.58236602623341 ], "lower_to_vortex": [ 5.245745756585155, 5.852890337748965 ], "raise_from_vortex": [ 10.65856696485999, 11.407289843782568 ], "transfer_to_rack": [ 11.407289843782568, 14.950163166942932 ], "transfer_to_vortex": [ 2.1310068951912884, 5.245745756585155 ], "vortex": [ 5.852890337748965, 10.65856696485999 ] }, "pick_line_azimuth_deg": 136.4886719924525, "pick_line_tilt_deg": 9.310561534399238, "pick_pattern": "spiral", "pick_sway_m": -0.002411176992177526, "put_pattern": "s_sway", "put_sway_m": 0.006772485391063588, "rack_put_height_m": 0.17028645566504855, "return_bend_scale": 1.4104245361663814, "return_curve_bias": 0.14056985570725555, "return_pattern": "crescent", "return_side": -1.0, "return_vertical_arc_scale": 0.8127690639410173, "transfer_bend_m": 0.3070658867499211, "transfer_side": 1.0, "transport_tilt_deg": 7.660940265812431, "vertical_arc_m": 0.2797691115242887, "vortex_apparent_frequency_hz": 5.242944604650916, "vortex_approach_height_m": 0.15667847444722438, "vortex_depart_height_m": 0.18422666932784257, "vortex_frequency_hz": 35.242944604650916, "vortex_phase_rad": 2.3074121841144146, "vortex_radius_m": 0.0002533803355272718, "vortex_tilt_deg": 0.267812833042563 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.075, 0.0 ], "scene_id": "cap_open/scene_000039", "schema_version": 15, "seed": 23650910, "shared_state_file": "shared_state.npz", "shared_state_sha256": "5d7b80c028ce14194c80e368b00c41a81832bb991549bf63fabb3812642f39e1", "simultaneous_camera_count": 3, "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, 16.299041717158932 ] }, "table_color_rgb": [ 0.5, 0.46, 0.38 ], "task": "vortexing", "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": 0.008066593388843782, "depart_pattern": "s_sway", "depart_sway_m": -0.002153546678137514, "handling_noise_amplitude_m": 0.004607312295749887, "handling_noise_frequency_hz": 1.7053098735274772, "handling_noise_phase_xyz_rad": [ 4.275959006863852, 3.350000256588705, 2.3624660606677033 ], "lift_height_m": 0.09510012292050299, "orientation_noise_deg": 3.849471373901405, "outbound_curve_bias": 0.5258648554374674, "outbound_pattern": "crescent", "phase_boundaries_s": { "final_hold": [ 15.58236602623341, 16.299041717158932 ], "initial_hold": [ 0.0, 0.9250973187221578 ], "lift_from_rack": [ 0.9250973187221578, 2.1310068951912884 ], "lower_to_rack": [ 14.950163166942932, 15.58236602623341 ], "lower_to_vortex": [ 5.245745756585155, 5.852890337748965 ], "raise_from_vortex": [ 10.65856696485999, 11.407289843782568 ], "transfer_to_rack": [ 11.407289843782568, 14.950163166942932 ], "transfer_to_vortex": [ 2.1310068951912884, 5.245745756585155 ], "vortex": [ 5.852890337748965, 10.65856696485999 ] }, "pick_line_azimuth_deg": 136.4886719924525, "pick_line_tilt_deg": 9.310561534399238, "pick_pattern": "spiral", "pick_sway_m": -0.002411176992177526, "put_pattern": "s_sway", "put_sway_m": 0.006772485391063588, "rack_put_height_m": 0.17028645566504855, "return_bend_scale": 1.4104245361663814, "return_curve_bias": 0.14056985570725555, "return_pattern": "crescent", "return_side": -1.0, "return_vertical_arc_scale": 0.8127690639410173, "transfer_bend_m": 0.3070658867499211, "transfer_side": 1.0, "transport_tilt_deg": 7.660940265812431, "vertical_arc_m": 0.2797691115242887, "vortex_apparent_frequency_hz": 5.242944604650916, "vortex_approach_height_m": 0.15667847444722438, "vortex_depart_height_m": 0.18422666932784257, "vortex_frequency_hz": 35.242944604650916, "vortex_phase_rad": 2.3074121841144146, "vortex_radius_m": 0.0002533803355272718, "vortex_tilt_deg": 0.267812833042563 }, "trajectory_validation": { "duration_s": 16.299041717158932, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 1.1657341758564144e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.0028741909632943397, "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_rack", "phase_fraction": 0.35554837877380774, "release_time_s": 12.666952710033208, "target_surface": "table", "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": [ 0.49801371098388436, -0.15652905223996127, 0.8529 ], "tube_start_position": [ 0.5622627423959967, -0.07989967169564656, 0.8529 ], "video": "left.mp4", "video_sha256": "6fe8583c9f78d9ceff5b8e4d7f376382c1ef04942841fadec9f77eef9b9db9be", "video_validation": { "actual_frame_count": 489, "content_valid": true, "decode_error": null, "expected_frame_count": 489, "frame_count_valid": true, "full_decode_frame_count": 489, "max_changed_pixel_fraction": 0.00701953125, "mean_luminance": 135.85447692871094, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 81, 163, 244, 325, 407, 488 ], "spatial_standard_deviation": 34.16093063354492, "valid": true }, "view_index": 0, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.24635669662102622, 0.1579691803341568, 0.9580000000000001 ], "vortex_id": "VTX-005", "vortex_position": [ -0.26721045790362485, 0.12527024089618127, 0.79 ], "vortex_yaw_deg": -23.4782794471472, "wrong_orientation": { "azimuth_deg": -151.05815765594, "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": [ 0.6399420784367039, 0.30896074106299076, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 153.48266906521388, "release_lateral_offset_m": 0.01646446011951312, "release_phase_fraction": 0.6453263746385227, "release_tilt_deg": 27.649574373570594, "release_time_s": 15.358140346164964, "slot_offset_xy": [ 0.02, 0.0 ], "tube_target_position": [ 0.6535620520526962, 0.2943150482251741, 0.8500000000000001 ], "yaw_deg": -47.078267140208766 } }