{
  "background": {
    "accent_color_rgb": [
      0.6458814241477592,
      0.3782033362061712,
      0.727883849741621
    ],
    "cabinet_color_rgb": [
      0.19660831820728547,
      0.2940499898408161,
      0.40327519608126877
    ],
    "floor_color_rgb": [
      0.14150445005107648,
      0.22350574291726588,
      0.23693193898500173
    ],
    "screen_color_rgb": [
      0.23318677289026424,
      0.7221210322201937,
      0.8879296261482187
    ],
    "style": "instrument_bay",
    "wall_color_rgb": [
      0.3103847424213153,
      0.42023185452181766,
      0.49852919548612523
    ]
  },
  "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": "PIP-018",
      "pitch_deg": 0.0,
      "position": [
        -0.5710957046930936,
        0.3209083124148434,
        0.8126220994076269
      ],
      "roll_deg": -91.40012662275714,
      "surface": "main_table",
      "uniform_scale": 0.8641445081104221,
      "yaw_deg": -166.94645202978742
    },
    {
      "asset_id": "PIP-005",
      "pitch_deg": -89.80072836134397,
      "position": [
        0.6138935565255005,
        -0.2151458654381867,
        0.813785945713493
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.012432422325784,
      "yaw_deg": 167.46956409452014
    },
    {
      "asset_id": "TIP-004",
      "pitch_deg": 0.0,
      "position": [
        0.01252169746681453,
        -0.2862738212849677,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.8093459772706872,
      "yaw_deg": 56.97422185368521
    },
    {
      "asset_id": "TIP-008",
      "pitch_deg": 0.0,
      "position": [
        -0.7130403931977582,
        1.1528433548265644,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.0553232392962673,
      "yaw_deg": 82.18309889461602
    },
    {
      "asset_id": "RES-010",
      "pitch_deg": 0.0,
      "position": [
        0.5228141169859623,
        0.3595985234267018,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.8175824567676901,
      "yaw_deg": 110.04024121295225
    },
    {
      "asset_id": "PIP-007",
      "pitch_deg": -88.03273939110517,
      "position": [
        0.36948377069706173,
        -0.1597829910378021,
        0.8098020927870736
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.889497363459612,
      "yaw_deg": 124.28247050590159
    }
  ],
  "duration_s": 16.697355225967907,
  "episode_id": 0,
  "error_type": "vortex_off",
  "frame_count": 501,
  "generation_success": true,
  "light_color_rgb": [
    0.92,
    0.92,
    0.9446311492980467
  ],
  "light_intensity": 1962.302595204799,
  "liquid": {
    "color_rgb": [
      0.38900493484939325,
      0.21675680010970658,
      0.024173914359469854
    ],
    "fill_fraction": 0.555778817029009,
    "opacity": 0.9112008588338295,
    "vortex_level_rise_fraction": 0.18578226829054498
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 2.079839673597893,
    "direction_azimuth_deg": -142.9798893196304,
    "lateral_speed_mps": 0.05443580454810385,
    "phase": "lift_from_rack",
    "phase_fraction": 0.2861753549080124,
    "release_clearance_m": 0.009827529487561916,
    "release_tilt_deg": 112.6993136743817,
    "stage": "pickup",
    "tip_duration_s": 0.29414884147315135,
    "trigger_time_s": 1.9835068482777611,
    "tube_detach_fraction": 0.49364866726536905,
    "tube_engagement_fraction": 0.5245265193824675,
    "tube_on_rack": true,
    "upward_speed_mps": 0.06802456670527912
  },
  "rack_id": "TR-002",
  "rack_position": [
    -0.3035532415965701,
    -0.28240701776232535,
    0.79
  ],
  "rack_yaw_deg": -21.095926789402014,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-002",
      "source_tube_has_cap": true,
      "tube_cap_present": true,
      "tube_id": "CT-005",
      "vortex_id": "VTX-003"
    },
    "distractors": {
      "count": 6,
      "placements": [
        {
          "asset_id": "PIP-018",
          "pitch_deg": 0.0,
          "position": [
            -0.5710957046930936,
            0.3209083124148434,
            0.8126220994076269
          ],
          "roll_deg": -91.40012662275714,
          "surface": "main_table",
          "uniform_scale": 0.8641445081104221,
          "yaw_deg": -166.94645202978742
        },
        {
          "asset_id": "PIP-005",
          "pitch_deg": -89.80072836134397,
          "position": [
            0.6138935565255005,
            -0.2151458654381867,
            0.813785945713493
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.012432422325784,
          "yaw_deg": 167.46956409452014
        },
        {
          "asset_id": "TIP-004",
          "pitch_deg": 0.0,
          "position": [
            0.01252169746681453,
            -0.2862738212849677,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.8093459772706872,
          "yaw_deg": 56.97422185368521
        },
        {
          "asset_id": "TIP-008",
          "pitch_deg": 0.0,
          "position": [
            -0.7130403931977582,
            1.1528433548265644,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.0553232392962673,
          "yaw_deg": 82.18309889461602
        },
        {
          "asset_id": "RES-010",
          "pitch_deg": 0.0,
          "position": [
            0.5228141169859623,
            0.3595985234267018,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.8175824567676901,
          "yaw_deg": 110.04024121295225
        },
        {
          "asset_id": "PIP-007",
          "pitch_deg": -88.03273939110517,
          "position": [
            0.36948377069706173,
            -0.1597829910378021,
            0.8098020927870736
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.889497363459612,
          "yaw_deg": 124.28247050590159
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.6458814241477592,
          0.3782033362061712,
          0.727883849741621
        ],
        "cabinet_color_rgb": [
          0.19660831820728547,
          0.2940499898408161,
          0.40327519608126877
        ],
        "floor_color_rgb": [
          0.14150445005107648,
          0.22350574291726588,
          0.23693193898500173
        ],
        "screen_color_rgb": [
          0.23318677289026424,
          0.7221210322201937,
          0.8879296261482187
        ],
        "style": "instrument_bay",
        "wall_color_rgb": [
          0.3103847424213153,
          0.42023185452181766,
          0.49852919548612523
        ]
      },
      "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,
        0.9446311492980467
      ],
      "light_intensity": 1962.302595204799,
      "table_color_rgb": [
        0.26,
        0.32,
        0.42
      ]
    },
    "layout": {
      "rack_position_m": [
        -0.3035532415965701,
        -0.28240701776232535,
        0.79
      ],
      "rack_to_vortex_bearing_deg": 49.311889534353234,
      "rack_to_vortex_distance_m": 0.6213504872368378,
      "rack_yaw_deg": -21.095926789402014,
      "return_slot_offset_xy_m": [
        0.0,
        -0.068
      ],
      "returns_to_different_slot": false,
      "start_slot_offset_xy_m": [
        0.0,
        -0.068
      ],
      "tube_return_position_m": [
        -0.3280285144181516,
        -0.3458495982608293,
        0.8152000000000001
      ],
      "tube_start_position_m": [
        -0.3280285144181516,
        -0.3458495982608293,
        0.8152000000000001
      ],
      "vortex_contact_position_m": [
        0.09040847775206627,
        0.245973790911475,
        1.0265
      ],
      "vortex_position_m": [
        0.10153065876819722,
        0.18874419114488206,
        0.79
      ],
      "vortex_yaw_deg": 11.19450297051118
    },
    "liquid": {
      "color_rgb": [
        0.38900493484939325,
        0.21675680010970658,
        0.024173914359469854
      ],
      "effective_peak_level_fraction": 0.555778817029009,
      "effective_vortex_level_rise_fraction": 0.0,
      "fill_fraction": 0.555778817029009,
      "opacity": 0.9112008588338295,
      "present": true,
      "vortex_level_rise_fraction": 0.18578226829054498
    },
    "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": 21260909,
    "trajectory": {
      "approach_pattern": "straight",
      "approach_sway_m": 0.010900621755519275,
      "depart_pattern": "spiral",
      "depart_sway_m": 0.011102723112385178,
      "handling_noise_amplitude_m": 0.015293709563446282,
      "handling_noise_frequency_hz": 0.405064990002256,
      "handling_noise_phase_xyz_rad": [
        4.761968981260856,
        0.5554080491678477,
        5.522539418711902
      ],
      "lift_height_m": 0.11389506172490844,
      "orientation_noise_deg": 7.396632829374829,
      "outbound_curve_bias": -0.6126122079150801,
      "outbound_pattern": "s_curve",
      "phase_boundaries_s": {
        "final_hold": [
          15.908928099990762,
          16.697355225967907
        ],
        "initial_hold": [
          0.0,
          1.2426531300847516
        ],
        "lift_from_rack": [
          1.2426531300847516,
          3.8314634713216766
        ],
        "lower_to_rack": [
          14.48480101397178,
          15.908928099990762
        ],
        "lower_to_vortex": [
          6.868412924850322,
          8.422703704769994
        ],
        "raise_from_vortex": [
          11.705583310000776,
          12.449769904290886
        ],
        "transfer_to_rack": [
          12.449769904290886,
          14.48480101397178
        ],
        "transfer_to_vortex": [
          3.8314634713216766,
          6.868412924850322
        ],
        "vortex": [
          8.422703704769994,
          11.705583310000776
        ]
      },
      "pick_line_azimuth_deg": -9.697382722216702,
      "pick_line_tilt_deg": 5.2998272658622145,
      "pick_pattern": "straight",
      "pick_sway_m": -0.006029450819712596,
      "put_pattern": "spiral",
      "put_sway_m": 0.004187469674534454,
      "rack_put_height_m": 0.26273514396253383,
      "return_bend_scale": 0.7811654156893897,
      "return_curve_bias": 0.09512475580557966,
      "return_pattern": "high_arc",
      "return_side": -1.0,
      "return_vertical_arc_scale": 1.4804709245047116,
      "transfer_bend_m": 0.09132425358245218,
      "transfer_side": 1.0,
      "transport_tilt_deg": 10.234643614970357,
      "vertical_arc_m": 0.29644681904136977,
      "vortex_apparent_frequency_hz": 10.77028199328424,
      "vortex_approach_height_m": 0.306871802404903,
      "vortex_depart_height_m": 0.24130754389902875,
      "vortex_frequency_hz": 19.22971800671576,
      "vortex_phase_rad": 6.091010878494454,
      "vortex_radius_m": 0.00028475183868568505,
      "vortex_tilt_deg": 0.6891517980982782
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    0.0,
    -0.068
  ],
  "scene_id": "vortex_off/scene_000000",
  "schema_version": 15,
  "seed": 21260909,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "e9560cf754033011175460b433b330e778c14158d0f71671ff525d543869d165",
  "simultaneous_camera_count": 3,
  "source_tube_has_cap": true,
  "start_slot_offset_xy": [
    0.0,
    -0.068
  ],
  "subtype_event": {
    "category": "vortex_off",
    "event_phase": "vortex",
    "is_failure": true,
    "randomized_parameters": {
      "commanded_liquid_level_rise_fraction": 0.0,
      "commanded_vortex_radius_m": 0.0,
      "commanded_vortex_tilt_deg": 0.0
    },
    "realized_outcome": {
      "liquid_level_rise_enabled": false,
      "tube_stationary_on_vortex": true,
      "vortex_motion_enabled": false
    },
    "time_window_s": [
      8.422703704769994,
      11.705583310000776
    ]
  },
  "table_color_rgb": [
    0.26,
    0.32,
    0.42
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "straight",
    "approach_sway_m": 0.010900621755519275,
    "depart_pattern": "spiral",
    "depart_sway_m": 0.011102723112385178,
    "handling_noise_amplitude_m": 0.015293709563446282,
    "handling_noise_frequency_hz": 0.405064990002256,
    "handling_noise_phase_xyz_rad": [
      4.761968981260856,
      0.5554080491678477,
      5.522539418711902
    ],
    "lift_height_m": 0.11389506172490844,
    "orientation_noise_deg": 7.396632829374829,
    "outbound_curve_bias": -0.6126122079150801,
    "outbound_pattern": "s_curve",
    "phase_boundaries_s": {
      "final_hold": [
        15.908928099990762,
        16.697355225967907
      ],
      "initial_hold": [
        0.0,
        1.2426531300847516
      ],
      "lift_from_rack": [
        1.2426531300847516,
        3.8314634713216766
      ],
      "lower_to_rack": [
        14.48480101397178,
        15.908928099990762
      ],
      "lower_to_vortex": [
        6.868412924850322,
        8.422703704769994
      ],
      "raise_from_vortex": [
        11.705583310000776,
        12.449769904290886
      ],
      "transfer_to_rack": [
        12.449769904290886,
        14.48480101397178
      ],
      "transfer_to_vortex": [
        3.8314634713216766,
        6.868412924850322
      ],
      "vortex": [
        8.422703704769994,
        11.705583310000776
      ]
    },
    "pick_line_azimuth_deg": -9.697382722216702,
    "pick_line_tilt_deg": 5.2998272658622145,
    "pick_pattern": "straight",
    "pick_sway_m": -0.006029450819712596,
    "put_pattern": "spiral",
    "put_sway_m": 0.004187469674534454,
    "rack_put_height_m": 0.26273514396253383,
    "return_bend_scale": 0.7811654156893897,
    "return_curve_bias": 0.09512475580557966,
    "return_pattern": "high_arc",
    "return_side": -1.0,
    "return_vertical_arc_scale": 1.4804709245047116,
    "transfer_bend_m": 0.09132425358245218,
    "transfer_side": 1.0,
    "transport_tilt_deg": 10.234643614970357,
    "vertical_arc_m": 0.29644681904136977,
    "vortex_apparent_frequency_hz": 10.77028199328424,
    "vortex_approach_height_m": 0.306871802404903,
    "vortex_depart_height_m": 0.24130754389902875,
    "vortex_frequency_hz": 19.22971800671576,
    "vortex_phase_rad": 6.091010878494454,
    "vortex_radius_m": 0.00028475183868568505,
    "vortex_tilt_deg": 0.6891517980982782
  },
  "trajectory_validation": {
    "duration_s": 16.697355225967907,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 1.2486924693357873e-15,
    "max_quaternion_norm_error": 1.1102230246251565e-16,
    "max_sample_step_m": 0.0045347960456120755,
    "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": true,
  "tube_drop": {
    "phase": "transfer_to_rack",
    "phase_fraction": 0.537018515716468,
    "release_time_s": 13.542619290248556,
    "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": [
    -0.3280285144181516,
    -0.3458495982608293,
    0.8152000000000001
  ],
  "tube_start_position": [
    -0.3280285144181516,
    -0.3458495982608293,
    0.8152000000000001
  ],
  "video": "front.mp4",
  "video_sha256": "5fc0e1f50dc22b7570e3e61c1dcc4ea025968e231e317e2c1ae74212897c04c6",
  "video_validation": {
    "actual_frame_count": 501,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 501,
    "frame_count_valid": true,
    "full_decode_frame_count": 501,
    "max_changed_pixel_fraction": 0.012635416666666666,
    "mean_luminance": 108.82669830322266,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      83,
      167,
      250,
      333,
      417,
      500
    ],
    "spatial_standard_deviation": 35.37706756591797,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    0.09040847775206627,
    0.245973790911475,
    1.0265
  ],
  "vortex_id": "VTX-003",
  "vortex_position": [
    0.10153065876819722,
    0.18874419114488206,
    0.79
  ],
  "vortex_yaw_deg": 11.19450297051118,
  "wrong_orientation": {
    "azimuth_deg": 169.49804668010643,
    "mode": "tilted",
    "tilt_deg_from_z": 43.34332111601875
  },
  "wrong_rack": {
    "hole_relation": "too_small",
    "insertion_depth_m": 0.0,
    "insertion_succeeds": false,
    "placement_outcome": "physx_drop_pending",
    "position": [
      0.288052884888347,
      -0.33455318247135657,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": -34.287638280599054,
    "release_lateral_offset_m": 0.023594011081261804,
    "release_phase_fraction": 0.7260360338957436,
    "release_tilt_deg": 33.342923765877835,
    "release_time_s": 15.518768595268504,
    "slot_offset_xy": [
      0.04,
      -0.019
    ],
    "tube_target_position": [
      0.3306399059186875,
      -0.32241458124381256,
      0.8500000000000001
    ],
    "yaw_deg": 41.31688792310166
  }
}