{ "background": { "accent_color_rgb": [ 0.8914057498908736, 0.5554710714474025, 0.20321575777511425 ], "cabinet_color_rgb": [ 0.5256497865838393, 0.56759600970732, 0.5622323013321701 ], "floor_color_rgb": [ 0.1987774423782026, 0.26686637768760163, 0.2870516657478899 ], "screen_color_rgb": [ 0.3180758027294475, 0.7428497487606065, 0.6818603522315168 ], "style": "wet_lab", "wall_color_rgb": [ 0.6659534363272797, 0.7977972748372985, 0.7212849903387292 ] }, "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-010", "pitch_deg": 0.0, "position": [ -0.700922004854992, -0.15376816117306769, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9626756551994722, "yaw_deg": -102.44829382480877 }, { "asset_id": "PIP-007", "pitch_deg": 0.0, "position": [ -0.32188872452271416, 0.15628964024196934, 0.7981274762705888 ], "roll_deg": -90.85702718866204, "surface": "main_table", "uniform_scale": 0.8381842055592048, "yaw_deg": 82.12219147100546 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ -0.3618777454714003, 0.3811719656238741, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8918712046467109, "yaw_deg": 123.74757137518588 }, { "asset_id": "TIP-006", "pitch_deg": 0.0, "position": [ 0.36513208814592224, -0.10113394707833218, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8449701321685028, "yaw_deg": 119.54908718288499 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.06144483015313362, 0.41246938669272204, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8295071609685924, "yaw_deg": 59.796304677499194 }, { "asset_id": "AUX-TR-004", "pitch_deg": 0.0, "position": [ 0.10721441322792558, 1.2185479473275775, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0211339674485498, "yaw_deg": -69.52544048063005 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.420356951611324, 1.2680510245409713, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0216959790508529, "yaw_deg": 76.88071830906438 }, { "asset_id": "PIP-008", "pitch_deg": 90.1140717324952, "position": [ -0.6413906911909266, 0.11549639968620345, 0.7998143258991752 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0124267281712171, "yaw_deg": 52.23968708677893 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.5845717955380301, -0.3457894236883238, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0746032153691507, "yaw_deg": 96.03278329490894 } ], "duration_s": 15.753156746553666, "episode_id": 28, "error_type": "vortex_off", "frame_count": 473, "generation_success": true, "light_color_rgb": [ 0.92, 0.92, 0.9286867815890216 ], "light_intensity": 2281.823729656059, "liquid": { "color_rgb": [ 0.39941919118451946, 0.2235389524993776, 0.045096606975938924 ], "fill_fraction": 0.4373690403131632, "opacity": 0.853603954693188, "vortex_level_rise_fraction": 0.19466166912367952 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.3471448461155178, "direction_azimuth_deg": -78.34219162848325, "lateral_speed_mps": 0.047910861586524606, "phase": "lift_from_rack", "phase_fraction": 0.24059391192963453, "release_clearance_m": 0.006386676963015663, "release_tilt_deg": 139.7529797114301, "stage": "pickup", "tip_duration_s": 0.3876013027245479, "trigger_time_s": 1.6895666608431164, "tube_detach_fraction": 0.5689329793706083, "tube_engagement_fraction": 0.5169210057381063, "tube_on_rack": true, "upward_speed_mps": 0.07073826824856727 }, "rack_id": "TR-002", "rack_position": [ 0.2163246098020304, 0.1590960089827328, 0.79 ], "rack_yaw_deg": 38.89622094776159, "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-010", "pitch_deg": 0.0, "position": [ -0.700922004854992, -0.15376816117306769, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9626756551994722, "yaw_deg": -102.44829382480877 }, { "asset_id": "PIP-007", "pitch_deg": 0.0, "position": [ -0.32188872452271416, 0.15628964024196934, 0.7981274762705888 ], "roll_deg": -90.85702718866204, "surface": "main_table", "uniform_scale": 0.8381842055592048, "yaw_deg": 82.12219147100546 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ -0.3618777454714003, 0.3811719656238741, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8918712046467109, "yaw_deg": 123.74757137518588 }, { "asset_id": "TIP-006", "pitch_deg": 0.0, "position": [ 0.36513208814592224, -0.10113394707833218, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8449701321685028, "yaw_deg": 119.54908718288499 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.06144483015313362, 0.41246938669272204, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8295071609685924, "yaw_deg": 59.796304677499194 }, { "asset_id": "AUX-TR-004", "pitch_deg": 0.0, "position": [ 0.10721441322792558, 1.2185479473275775, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0211339674485498, "yaw_deg": -69.52544048063005 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.420356951611324, 1.2680510245409713, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0216959790508529, "yaw_deg": 76.88071830906438 }, { "asset_id": "PIP-008", "pitch_deg": 90.1140717324952, "position": [ -0.6413906911909266, 0.11549639968620345, 0.7998143258991752 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0124267281712171, "yaw_deg": 52.23968708677893 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.5845717955380301, -0.3457894236883238, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0746032153691507, "yaw_deg": 96.03278329490894 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8914057498908736, 0.5554710714474025, 0.20321575777511425 ], "cabinet_color_rgb": [ 0.5256497865838393, 0.56759600970732, 0.5622323013321701 ], "floor_color_rgb": [ 0.1987774423782026, 0.26686637768760163, 0.2870516657478899 ], "screen_color_rgb": [ 0.3180758027294475, 0.7428497487606065, 0.6818603522315168 ], "style": "wet_lab", "wall_color_rgb": [ 0.6659534363272797, 0.7977972748372985, 0.7212849903387292 ] }, "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, 0.9286867815890216 ], "light_intensity": 2281.823729656059, "table_color_rgb": [ 0.18, 0.48, 0.28 ] }, "layout": { "rack_position_m": [ 0.2163246098020304, 0.1590960089827328, 0.79 ], "rack_to_vortex_bearing_deg": -128.8552852110902, "rack_to_vortex_distance_m": 0.4880680312882247, "rack_yaw_deg": 38.89622094776159, "return_slot_offset_xy_m": [ 0.034, -0.034 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ -0.068, -0.034 ], "tube_return_position_m": [ 0.26413528369967165, 0.15398333243777065, 0.8152000000000001 ], "tube_start_position_m": [ 0.18475025803576656, 0.089936336408752, 0.8152000000000001 ], "vortex_contact_position_m": [ -0.117771796884508, -0.17196526551236985, 1.0070000000000001 ], "vortex_position_m": [ -0.08986755875187141, -0.2209786666822245, 0.79 ], "vortex_yaw_deg": 29.653661677135844 }, "liquid": { "color_rgb": [ 0.39941919118451946, 0.2235389524993776, 0.045096606975938924 ], "effective_peak_level_fraction": 0.4373690403131632, "effective_vortex_level_rise_fraction": 0.0, "fill_fraction": 0.4373690403131632, "opacity": 0.853603954693188, "present": true, "vortex_level_rise_fraction": 0.19466166912367952 }, "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": 21540909, "trajectory": { "approach_pattern": "lean", "approach_sway_m": 0.010830119486903373, "depart_pattern": "straight", "depart_sway_m": -0.005498160526925302, "handling_noise_amplitude_m": 0.0014119393667393555, "handling_noise_frequency_hz": 0.8379505574121672, "handling_noise_phase_xyz_rad": [ 4.904510887389128, 1.5518810977819282, 1.5969507726675716 ], "lift_height_m": 0.1791374786686663, "orientation_noise_deg": 0.4623572971753987, "outbound_curve_bias": -0.34972946234385016, "outbound_pattern": "late_swoop", "phase_boundaries_s": { "final_hold": [ 14.901001881068112, 15.753156746553666 ], "initial_hold": [ 0.0, 1.1818820207195446 ], "lift_from_rack": [ 1.1818820207195446, 3.2920128883370596 ], "lower_to_rack": [ 14.171256620366131, 14.901001881068112 ], "lower_to_vortex": [ 5.769401804238356, 6.586916937439 ], "raise_from_vortex": [ 10.668529603416172, 11.70092233482231 ], "transfer_to_rack": [ 11.70092233482231, 14.171256620366131 ], "transfer_to_vortex": [ 3.2920128883370596, 5.769401804238356 ], "vortex": [ 6.586916937439, 10.668529603416172 ] }, "pick_line_azimuth_deg": -126.9401277494507, "pick_line_tilt_deg": 10.111425543114132, "pick_pattern": "hook", "pick_sway_m": -0.007924134266130731, "put_pattern": "straight", "put_sway_m": -0.002971917233128062, "rack_put_height_m": 0.3862827102234042, "return_bend_scale": 0.7081923233226544, "return_curve_bias": -0.10408593996662019, "return_pattern": "loop", "return_side": 1.0, "return_vertical_arc_scale": 0.4921077948499759, "transfer_bend_m": 0.21332723333009665, "transfer_side": -1.0, "transport_tilt_deg": 14.145213143552983, "vertical_arc_m": 0.21383936204792997, "vortex_apparent_frequency_hz": 12.149791623740107, "vortex_approach_height_m": 0.3344819542832866, "vortex_depart_height_m": 0.29983588726505633, "vortex_frequency_hz": 42.14979162374011, "vortex_phase_rad": 2.688803216262179, "vortex_radius_m": 0.0005546085026458575, "vortex_tilt_deg": 0.7651645736174285 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.034, -0.034 ], "scene_id": "vortex_off/scene_000028", "schema_version": 15, "seed": 21540909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "077e196d8504235210b40b9df63a8861070f3435adb0693a020e0f56297e225d", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ -0.068, -0.034 ], "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": [ 6.586916937439, 10.668529603416172 ] }, "table_color_rgb": [ 0.18, 0.48, 0.28 ], "task": "vortexing", "trajectory": { "approach_pattern": "lean", "approach_sway_m": 0.010830119486903373, "depart_pattern": "straight", "depart_sway_m": -0.005498160526925302, "handling_noise_amplitude_m": 0.0014119393667393555, "handling_noise_frequency_hz": 0.8379505574121672, "handling_noise_phase_xyz_rad": [ 4.904510887389128, 1.5518810977819282, 1.5969507726675716 ], "lift_height_m": 0.1791374786686663, "orientation_noise_deg": 0.4623572971753987, "outbound_curve_bias": -0.34972946234385016, "outbound_pattern": "late_swoop", "phase_boundaries_s": { "final_hold": [ 14.901001881068112, 15.753156746553666 ], "initial_hold": [ 0.0, 1.1818820207195446 ], "lift_from_rack": [ 1.1818820207195446, 3.2920128883370596 ], "lower_to_rack": [ 14.171256620366131, 14.901001881068112 ], "lower_to_vortex": [ 5.769401804238356, 6.586916937439 ], "raise_from_vortex": [ 10.668529603416172, 11.70092233482231 ], "transfer_to_rack": [ 11.70092233482231, 14.171256620366131 ], "transfer_to_vortex": [ 3.2920128883370596, 5.769401804238356 ], "vortex": [ 6.586916937439, 10.668529603416172 ] }, "pick_line_azimuth_deg": -126.9401277494507, "pick_line_tilt_deg": 10.111425543114132, "pick_pattern": "hook", "pick_sway_m": -0.007924134266130731, "put_pattern": "straight", "put_sway_m": -0.002971917233128062, "rack_put_height_m": 0.3862827102234042, "return_bend_scale": 0.7081923233226544, "return_curve_bias": -0.10408593996662019, "return_pattern": "loop", "return_side": 1.0, "return_vertical_arc_scale": 0.4921077948499759, "transfer_bend_m": 0.21332723333009665, "transfer_side": -1.0, "transport_tilt_deg": 14.145213143552983, "vertical_arc_m": 0.21383936204792997, "vortex_apparent_frequency_hz": 12.149791623740107, "vortex_approach_height_m": 0.3344819542832866, "vortex_depart_height_m": 0.29983588726505633, "vortex_frequency_hz": 42.14979162374011, "vortex_phase_rad": 2.688803216262179, "vortex_radius_m": 0.0005546085026458575, "vortex_tilt_deg": 0.7651645736174285 }, "trajectory_validation": { "duration_s": 15.753156746553666, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 1.2526961797206534e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.004134081685559294, "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": "vortex", "phase_fraction": 0.6483527380117353, "release_time_s": 9.233241684928679, "target_surface": "vortex", "vortex_release_azimuth_deg": 109.57607377556423, "vortex_release_offset_m": 0.036010504578066004, "vortex_release_tilt_deg": 0.0 }, "tube_id": "CT-005", "tube_return_position": [ 0.26413528369967165, 0.15398333243777065, 0.8152000000000001 ], "tube_start_position": [ 0.18475025803576656, 0.089936336408752, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "81c8424bd8c9c79e57f2a8dd56e9dfd90837f3184db52b53328fd71fcd7cc2cf", "video_validation": { "actual_frame_count": 473, "content_valid": true, "decode_error": null, "expected_frame_count": 473, "frame_count_valid": true, "full_decode_frame_count": 473, "max_changed_pixel_fraction": 0.012061197916666667, "mean_luminance": 132.12168884277344, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 79, 157, 236, 315, 393, 472 ], "spatial_standard_deviation": 35.26287078857422, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.117771796884508, -0.17196526551236985, 1.0070000000000001 ], "vortex_id": "VTX-001", "vortex_position": [ -0.08986755875187141, -0.2209786666822245, 0.79 ], "vortex_yaw_deg": 29.653661677135844, "wrong_orientation": { "azimuth_deg": 169.96050917703514, "mode": "tilted", "tilt_deg_from_z": 49.48915684782099 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.6280376256779515, 0.3376353330533066, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 128.35044915179662, "release_lateral_offset_m": 0.020871003279259573, "release_phase_fraction": 0.7770894224463907, "release_tilt_deg": 33.175369352559485, "release_time_s": 14.738333943538024, "slot_offset_xy": [ 0.02, 0.019 ], "tube_target_position": [ -0.6232302249403198, 0.36479944353290483, 0.8500000000000001 ], "yaw_deg": 36.432729478140885 } }