{ "background": { "accent_color_rgb": [ 0.865320484376152, 0.6996238983271484, 0.21721493280593032 ], "cabinet_color_rgb": [ 0.6182900261140527, 0.6920189425540343, 0.7027759528902575 ], "floor_color_rgb": [ 0.22334414249290213, 0.27554523442152973, 0.361314790696175 ], "screen_color_rgb": [ 0.30434794349126265, 0.7449852552734856, 0.8154128384730208 ], "style": "biosafety", "wall_color_rgb": [ 0.6922160370130184, 0.81794482851177, 0.75881027486165 ] }, "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": "SBI-004", "pitch_deg": 0.0, "position": [ 0.590953059449046, 0.13768129291805065, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9549262781708441, "yaw_deg": 131.06749968889517 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ -0.7612219290937224, 1.1555443030884527, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0403541553594542, "yaw_deg": -89.45382108319801 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.1955268513484194, -0.17856500810844422, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9896591142672098, "yaw_deg": 30.177587084299063 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ 0.8514912192906735, 1.2242619801628154, 0.8456705471898722 ], "roll_deg": -90.27756084265833, "surface": "rear_bench", "uniform_scale": 0.8976655141936226, "yaw_deg": -104.89515402703711 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.03924721516977392, 0.03335409219277102, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0314995180397055, "yaw_deg": 163.2738559983522 }, { "asset_id": "PIP-007", "pitch_deg": -89.72435219255614, "position": [ 0.4881902327064349, -0.18794607406513977, 0.8075919995351314 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7876497481627333, "yaw_deg": 96.81895065669477 }, { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ 0.702949367014077, -0.4255716404874845, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0814773993907356, "yaw_deg": -134.32247619612528 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ -0.08322588921454921, 0.28290282973202985, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0213406658636006, "yaw_deg": -156.35861584516354 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ -0.5417921742867988, 0.2808375032009167, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9058194096052101, "yaw_deg": -15.158085238733804 } ], "duration_s": 15.77632671292923, "episode_id": 39, "error_type": "vortex_off", "frame_count": 473, "generation_success": true, "light_color_rgb": [ 0.92, 0.92, 0.9509509085414664 ], "light_intensity": 2274.6637043631627, "liquid": { "color_rgb": [ 0.06041227145613838, 0.2564244481259088, 0.35334038888108904 ], "fill_fraction": 0.5173401031997003, "opacity": 0.8937951041500594, "vortex_level_rise_fraction": 0.18313866804790652 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.2614969016631843, "direction_azimuth_deg": -47.52318700936573, "lateral_speed_mps": 0.06687959588689824, "phase": "lift_from_rack", "phase_fraction": 0.28343819349468724, "release_clearance_m": 0.008464689929552162, "release_tilt_deg": 122.30346504703574, "stage": "pickup", "tip_duration_s": 0.43001654569604275, "trigger_time_s": 1.7314279740591472, "tube_detach_fraction": 0.5720243078236465, "tube_engagement_fraction": 0.6288615122989898, "tube_on_rack": true, "upward_speed_mps": 0.081993454980405 }, "rack_id": "TR-004", "rack_position": [ -0.5736817457070194, -0.3344635998224563, 0.79 ], "rack_yaw_deg": 38.41563444183518, "randomization_results": { "assets": { "rack_id": "TR-004", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-009", "vortex_id": "VTX-005" }, "distractors": { "count": 9, "placements": [ { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.590953059449046, 0.13768129291805065, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9549262781708441, "yaw_deg": 131.06749968889517 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ -0.7612219290937224, 1.1555443030884527, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0403541553594542, "yaw_deg": -89.45382108319801 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.1955268513484194, -0.17856500810844422, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9896591142672098, "yaw_deg": 30.177587084299063 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ 0.8514912192906735, 1.2242619801628154, 0.8456705471898722 ], "roll_deg": -90.27756084265833, "surface": "rear_bench", "uniform_scale": 0.8976655141936226, "yaw_deg": -104.89515402703711 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.03924721516977392, 0.03335409219277102, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0314995180397055, "yaw_deg": 163.2738559983522 }, { "asset_id": "PIP-007", "pitch_deg": -89.72435219255614, "position": [ 0.4881902327064349, -0.18794607406513977, 0.8075919995351314 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7876497481627333, "yaw_deg": 96.81895065669477 }, { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ 0.702949367014077, -0.4255716404874845, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0814773993907356, "yaw_deg": -134.32247619612528 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ -0.08322588921454921, 0.28290282973202985, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0213406658636006, "yaw_deg": -156.35861584516354 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ -0.5417921742867988, 0.2808375032009167, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9058194096052101, "yaw_deg": -15.158085238733804 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.865320484376152, 0.6996238983271484, 0.21721493280593032 ], "cabinet_color_rgb": [ 0.6182900261140527, 0.6920189425540343, 0.7027759528902575 ], "floor_color_rgb": [ 0.22334414249290213, 0.27554523442152973, 0.361314790696175 ], "screen_color_rgb": [ 0.30434794349126265, 0.7449852552734856, 0.8154128384730208 ], "style": "biosafety", "wall_color_rgb": [ 0.6922160370130184, 0.81794482851177, 0.75881027486165 ] }, "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, 0.9509509085414664 ], "light_intensity": 2274.6637043631627, "table_color_rgb": [ 0.18, 0.48, 0.28 ] }, "layout": { "rack_position_m": [ -0.5736817457070194, -0.3344635998224563, 0.79 ], "rack_to_vortex_bearing_deg": 32.87426439341104, "rack_to_vortex_distance_m": 0.9283160572686531, "rack_yaw_deg": 38.41563444183518, "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": [ -0.6324460407579072, -0.38106572023743523, 0.8529 ], "tube_start_position_m": [ -0.5932698440573153, -0.3499976399607826, 0.8529 ], "vortex_contact_position_m": [ 0.2269042137297628, 0.20207596444223705, 0.9580000000000001 ], "vortex_position_m": [ 0.20597726683336526, 0.16942381453453026, 0.79 ], "vortex_yaw_deg": -23.606608602201042 }, "liquid": { "color_rgb": [ 0.06041227145613838, 0.2564244481259088, 0.35334038888108904 ], "effective_peak_level_fraction": 0.5173401031997003, "effective_vortex_level_rise_fraction": 0.0, "fill_fraction": 0.5173401031997003, "opacity": 0.8937951041500594, "present": true, "vortex_level_rise_fraction": 0.18313866804790652 }, "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": 21650909, "trajectory": { "approach_pattern": "spiral", "approach_sway_m": -0.011554598706932553, "depart_pattern": "straight", "depart_sway_m": -0.010658824260170355, "handling_noise_amplitude_m": 0.01129606043575955, "handling_noise_frequency_hz": 1.0262441960274957, "handling_noise_phase_xyz_rad": [ 2.986079162382323, 5.301886837327008, 2.835225416390175 ], "lift_height_m": 0.14126520359700026, "orientation_noise_deg": 3.308765437669703, "outbound_curve_bias": -0.3518475576983778, "outbound_pattern": "hook", "phase_boundaries_s": { "final_hold": [ 14.949572581144611, 15.77632671292923 ], "initial_hold": [ 0.0, 1.054543011829979 ], "lift_from_rack": [ 1.054543011829979, 3.4426649296400984 ], "lower_to_rack": [ 13.765241081781733, 14.949572581144611 ], "lower_to_vortex": [ 6.299256684821964, 7.654217082328398 ], "raise_from_vortex": [ 10.695967576391695, 11.352193164450194 ], "transfer_to_rack": [ 11.352193164450194, 13.765241081781733 ], "transfer_to_vortex": [ 3.4426649296400984, 6.299256684821964 ], "vortex": [ 7.654217082328398, 10.695967576391695 ] }, "pick_line_azimuth_deg": -105.13019186757674, "pick_line_tilt_deg": 0.21963114474558632, "pick_pattern": "lean", "pick_sway_m": 0.007480989470512884, "put_pattern": "spiral", "put_sway_m": 0.006458981602056484, "rack_put_height_m": 0.33298043633259167, "return_bend_scale": 1.0642732957370338, "return_curve_bias": -0.3942663810011319, "return_pattern": "high_arc", "return_side": -1.0, "return_vertical_arc_scale": 1.5391507324686, "transfer_bend_m": 0.24687447878430716, "transfer_side": 1.0, "transport_tilt_deg": 17.56674730037586, "vertical_arc_m": 0.07146785597764868, "vortex_apparent_frequency_hz": 6.5981377523211755, "vortex_approach_height_m": 0.09072869266011065, "vortex_depart_height_m": 0.0926688754468169, "vortex_frequency_hz": 23.401862247678825, "vortex_phase_rad": 0.07698402521837934, "vortex_radius_m": 0.00033885333616762853, "vortex_tilt_deg": 0.7132360219544124 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.075, 0.0 ], "scene_id": "vortex_off/scene_000039", "schema_version": 15, "seed": 21650909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "4a604c1b80bd4a4baa38219b9708482d2c5f24b6186b704f4f9bbd78ee6a944e", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ -0.025, 0.0 ], "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": [ 7.654217082328398, 10.695967576391695 ] }, "table_color_rgb": [ 0.18, 0.48, 0.28 ], "task": "vortexing", "trajectory": { "approach_pattern": "spiral", "approach_sway_m": -0.011554598706932553, "depart_pattern": "straight", "depart_sway_m": -0.010658824260170355, "handling_noise_amplitude_m": 0.01129606043575955, "handling_noise_frequency_hz": 1.0262441960274957, "handling_noise_phase_xyz_rad": [ 2.986079162382323, 5.301886837327008, 2.835225416390175 ], "lift_height_m": 0.14126520359700026, "orientation_noise_deg": 3.308765437669703, "outbound_curve_bias": -0.3518475576983778, "outbound_pattern": "hook", "phase_boundaries_s": { "final_hold": [ 14.949572581144611, 15.77632671292923 ], "initial_hold": [ 0.0, 1.054543011829979 ], "lift_from_rack": [ 1.054543011829979, 3.4426649296400984 ], "lower_to_rack": [ 13.765241081781733, 14.949572581144611 ], "lower_to_vortex": [ 6.299256684821964, 7.654217082328398 ], "raise_from_vortex": [ 10.695967576391695, 11.352193164450194 ], "transfer_to_rack": [ 11.352193164450194, 13.765241081781733 ], "transfer_to_vortex": [ 3.4426649296400984, 6.299256684821964 ], "vortex": [ 7.654217082328398, 10.695967576391695 ] }, "pick_line_azimuth_deg": -105.13019186757674, "pick_line_tilt_deg": 0.21963114474558632, "pick_pattern": "lean", "pick_sway_m": 0.007480989470512884, "put_pattern": "spiral", "put_sway_m": 0.006458981602056484, "rack_put_height_m": 0.33298043633259167, "return_bend_scale": 1.0642732957370338, "return_curve_bias": -0.3942663810011319, "return_pattern": "high_arc", "return_side": -1.0, "return_vertical_arc_scale": 1.5391507324686, "transfer_bend_m": 0.24687447878430716, "transfer_side": 1.0, "transport_tilt_deg": 17.56674730037586, "vertical_arc_m": 0.07146785597764868, "vortex_apparent_frequency_hz": 6.5981377523211755, "vortex_approach_height_m": 0.09072869266011065, "vortex_depart_height_m": 0.0926688754468169, "vortex_frequency_hz": 23.401862247678825, "vortex_phase_rad": 0.07698402521837934, "vortex_radius_m": 0.00033885333616762853, "vortex_tilt_deg": 0.7132360219544124 }, "trajectory_validation": { "duration_s": 15.77632671292923, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 1.055077015130091e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.0037036543892349245, "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_vortex", "phase_fraction": 0.41999999999999993, "release_time_s": 4.642433466816482, "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": [ -0.6324460407579072, -0.38106572023743523, 0.8529 ], "tube_start_position": [ -0.5932698440573153, -0.3499976399607826, 0.8529 ], "video": "left.mp4", "video_sha256": "87f0ef71f2bfad855e1c4cce47fc66ae87a5b5e27a1de736374ec6e97a7a965d", "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": 0.0095390625, "mean_luminance": 144.5108184814453, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 79, 157, 236, 315, 393, 472 ], "spatial_standard_deviation": 39.26153564453125, "valid": true }, "view_index": 0, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ 0.2269042137297628, 0.20207596444223705, 0.9580000000000001 ], "vortex_id": "VTX-005", "vortex_position": [ 0.20597726683336526, 0.16942381453453026, 0.79 ], "vortex_yaw_deg": -23.606608602201042, "wrong_orientation": { "azimuth_deg": -160.23004447619894, "mode": "tilted", "tilt_deg_from_z": 48.7301107131228 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.2818963485130793, -0.06436100397554001, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -33.36899114297259, "release_lateral_offset_m": 0.016426980459003447, "release_phase_fraction": 0.666652076859968, "release_tilt_deg": 22.696555184906387, "release_time_s": 14.554778135522676, "slot_offset_xy": [ 0.0, 0.019 ], "tube_target_position": [ -0.2941874086925811, -0.049872048193156465, 0.8500000000000001 ], "yaw_deg": 40.30812340006487 } }