{ "background": { "accent_color_rgb": [ 0.8855615644124546, 0.5357199264286933, 0.16683801620665026 ], "cabinet_color_rgb": [ 0.48107459963346366, 0.6428314424323502, 0.5680527754852157 ], "floor_color_rgb": [ 0.2587528982195958, 0.2566913161481101, 0.3247896275558567 ], "screen_color_rgb": [ 0.3444711290666481, 0.707637208875044, 0.647264197824324 ], "style": "wet_lab", "wall_color_rgb": [ 0.7393705823689504, 0.7600200831767235, 0.7285680782771411 ] }, "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-002", "pitch_deg": 0.0, "position": [ -0.5851729445451185, -0.35271514354866074, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7837383684106295, "yaw_deg": 64.3367750745962 }, { "asset_id": "PIP-001", "pitch_deg": 0.0, "position": [ -0.5164566969953714, 0.1910448267891539, 0.8005302098275812 ], "roll_deg": -91.71264651572332, "surface": "main_table", "uniform_scale": 1.102220860173747, "yaw_deg": -121.71267494119198 }, { "asset_id": "PIP-005", "pitch_deg": 0.0, "position": [ -0.07760624081834044, -0.1386119204203235, 0.7977985610619713 ], "roll_deg": 88.1933468328883, "surface": "main_table", "uniform_scale": 0.8846740681177264, "yaw_deg": -14.921430491914464 }, { "asset_id": "PIP-007", "pitch_deg": 0.0, "position": [ 0.524838150364292, -0.07877664720415528, 0.7998348620464099 ], "roll_deg": -90.4639007185592, "surface": "main_table", "uniform_scale": 1.0258090160889954, "yaw_deg": -65.97729008341135 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ -0.32283879839521973, -0.2756062664860633, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0309244391515813, "yaw_deg": 106.75994736898019 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.8672936371191755, 1.1186405906661425, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0097106929996706, "yaw_deg": 134.23421822585448 } ], "duration_s": 14.800668543470065, "episode_id": 46, "error_type": "vortex_off", "frame_count": 444, "generation_success": true, "light_color_rgb": [ 0.9868465827155406, 0.92, 0.92 ], "light_intensity": 2137.562341299156, "liquid": { "color_rgb": [ 0.043507283617909606, 0.2883375654828347, 0.23791247458670525 ], "fill_fraction": 0.5387004285284068, "opacity": 0.9145211209264184, "vortex_level_rise_fraction": 0.19311377289697293 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.657797026962127, "direction_azimuth_deg": -155.29517663612307, "lateral_speed_mps": 0.05170280685923376, "phase": "lift_from_rack", "phase_fraction": 0.25768927324362245, "release_clearance_m": 0.010952916404635082, "release_tilt_deg": 117.76288221572193, "stage": "pickup", "tip_duration_s": 0.45152386113650145, "trigger_time_s": 1.2573992225877881, "tube_detach_fraction": 0.49801524476614817, "tube_engagement_fraction": 0.5684296697084967, "tube_on_rack": true, "upward_speed_mps": 0.07094662197473724 }, "rack_id": "TR-002", "rack_position": [ 0.32191410800483944, 0.18533143660303347, 0.79 ], "rack_yaw_deg": -31.644061734706494, "randomization_results": { "assets": { "rack_id": "TR-002", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-009", "vortex_id": "VTX-002" }, "distractors": { "count": 6, "placements": [ { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ -0.5851729445451185, -0.35271514354866074, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7837383684106295, "yaw_deg": 64.3367750745962 }, { "asset_id": "PIP-001", "pitch_deg": 0.0, "position": [ -0.5164566969953714, 0.1910448267891539, 0.8005302098275812 ], "roll_deg": -91.71264651572332, "surface": "main_table", "uniform_scale": 1.102220860173747, "yaw_deg": -121.71267494119198 }, { "asset_id": "PIP-005", "pitch_deg": 0.0, "position": [ -0.07760624081834044, -0.1386119204203235, 0.7977985610619713 ], "roll_deg": 88.1933468328883, "surface": "main_table", "uniform_scale": 0.8846740681177264, "yaw_deg": -14.921430491914464 }, { "asset_id": "PIP-007", "pitch_deg": 0.0, "position": [ 0.524838150364292, -0.07877664720415528, 0.7998348620464099 ], "roll_deg": -90.4639007185592, "surface": "main_table", "uniform_scale": 1.0258090160889954, "yaw_deg": -65.97729008341135 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ -0.32283879839521973, -0.2756062664860633, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0309244391515813, "yaw_deg": 106.75994736898019 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.8672936371191755, 1.1186405906661425, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0097106929996706, "yaw_deg": 134.23421822585448 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8855615644124546, 0.5357199264286933, 0.16683801620665026 ], "cabinet_color_rgb": [ 0.48107459963346366, 0.6428314424323502, 0.5680527754852157 ], "floor_color_rgb": [ 0.2587528982195958, 0.2566913161481101, 0.3247896275558567 ], "screen_color_rgb": [ 0.3444711290666481, 0.707637208875044, 0.647264197824324 ], "style": "wet_lab", "wall_color_rgb": [ 0.7393705823689504, 0.7600200831767235, 0.7285680782771411 ] }, "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": [ 0.9868465827155406, 0.92, 0.92 ], "light_intensity": 2137.562341299156, "table_color_rgb": [ 0.26, 0.32, 0.42 ] }, "layout": { "rack_position_m": [ 0.32191410800483944, 0.18533143660303347, 0.79 ], "rack_to_vortex_bearing_deg": -174.57479368252953, "rack_to_vortex_distance_m": 0.4816938654657166, "rack_yaw_deg": -31.644061734706494, "return_slot_offset_xy_m": [ 0.0, 0.034 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ -0.034, 0.034 ], "tube_return_position_m": [ 0.33975189343711504, 0.21427644326864156, 0.8152000000000001 ], "tube_start_position_m": [ 0.3108068867715069, 0.23211422870091714, 0.8152000000000001 ], "vortex_contact_position_m": [ -0.162340651037913, 0.16785745679307018, 0.9790000000000001 ], "vortex_position_m": [ -0.15762199384106756, 0.13978907112059769, 0.79 ], "vortex_yaw_deg": -9.528616650006285 }, "liquid": { "color_rgb": [ 0.043507283617909606, 0.2883375654828347, 0.23791247458670525 ], "effective_peak_level_fraction": 0.5387004285284068, "effective_vortex_level_rise_fraction": 0.0, "fill_fraction": 0.5387004285284068, "opacity": 0.9145211209264184, "present": true, "vortex_level_rise_fraction": 0.19311377289697293 }, "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": 21720909, "trajectory": { "approach_pattern": "straight", "approach_sway_m": 0.007164462891320934, "depart_pattern": "spiral", "depart_sway_m": 0.010003825804452898, "handling_noise_amplitude_m": 0.009860466353163233, "handling_noise_frequency_hz": 2.0951448076141577, "handling_noise_phase_xyz_rad": [ 4.272129212767523, 4.732092740171036, 0.7243159120570923 ], "lift_height_m": 0.134345645677096, "orientation_noise_deg": 2.6365026210567737, "outbound_curve_bias": -0.5040096201039769, "outbound_pattern": "wide_detour", "phase_boundaries_s": { "final_hold": [ 13.87639669144575, 14.800668543470065 ], "initial_hold": [ 0.0, 1.0035574107012684 ], "lift_from_rack": [ 1.0035574107012684, 1.988626787828716 ], "lower_to_rack": [ 12.761056778670891, 13.87639669144575 ], "lower_to_vortex": [ 3.905754330110981, 5.285808148786907 ], "raise_from_vortex": [ 9.319754202256707, 10.740582128508475 ], "transfer_to_rack": [ 10.740582128508475, 12.761056778670891 ], "transfer_to_vortex": [ 1.988626787828716, 3.905754330110981 ], "vortex": [ 5.285808148786907, 9.319754202256707 ] }, "pick_line_azimuth_deg": 110.12762028911698, "pick_line_tilt_deg": 0.31516302139093044, "pick_pattern": "spiral", "pick_sway_m": 0.0037852267320695027, "put_pattern": "s_sway", "put_sway_m": -0.0038302414521414266, "rack_put_height_m": 0.3176442011455739, "return_bend_scale": 0.8475913491005201, "return_curve_bias": -0.6920504614022125, "return_pattern": "direct", "return_side": 1.0, "return_vertical_arc_scale": 0.918000517043013, "transfer_bend_m": 0.17292650693582945, "transfer_side": 1.0, "transport_tilt_deg": 8.335907230323391, "vertical_arc_m": 0.06684255260327616, "vortex_apparent_frequency_hz": 8.82820128873514, "vortex_approach_height_m": 0.09249207880502258, "vortex_depart_height_m": 0.13082785128307373, "vortex_frequency_hz": 21.17179871126486, "vortex_phase_rad": 2.465878670087863, "vortex_radius_m": 0.0007210220988836872, "vortex_tilt_deg": 0.4285005520326578 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.0, 0.034 ], "scene_id": "vortex_off/scene_000046", "schema_version": 15, "seed": 21720909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "77843e2a212500754ce6c5e3349c213ced64a75f7b2ee59d5d6e19f1f4e3c258", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ -0.034, 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": [ 5.285808148786907, 9.319754202256707 ] }, "table_color_rgb": [ 0.26, 0.32, 0.42 ], "task": "vortexing", "trajectory": { "approach_pattern": "straight", "approach_sway_m": 0.007164462891320934, "depart_pattern": "spiral", "depart_sway_m": 0.010003825804452898, "handling_noise_amplitude_m": 0.009860466353163233, "handling_noise_frequency_hz": 2.0951448076141577, "handling_noise_phase_xyz_rad": [ 4.272129212767523, 4.732092740171036, 0.7243159120570923 ], "lift_height_m": 0.134345645677096, "orientation_noise_deg": 2.6365026210567737, "outbound_curve_bias": -0.5040096201039769, "outbound_pattern": "wide_detour", "phase_boundaries_s": { "final_hold": [ 13.87639669144575, 14.800668543470065 ], "initial_hold": [ 0.0, 1.0035574107012684 ], "lift_from_rack": [ 1.0035574107012684, 1.988626787828716 ], "lower_to_rack": [ 12.761056778670891, 13.87639669144575 ], "lower_to_vortex": [ 3.905754330110981, 5.285808148786907 ], "raise_from_vortex": [ 9.319754202256707, 10.740582128508475 ], "transfer_to_rack": [ 10.740582128508475, 12.761056778670891 ], "transfer_to_vortex": [ 1.988626787828716, 3.905754330110981 ], "vortex": [ 5.285808148786907, 9.319754202256707 ] }, "pick_line_azimuth_deg": 110.12762028911698, "pick_line_tilt_deg": 0.31516302139093044, "pick_pattern": "spiral", "pick_sway_m": 0.0037852267320695027, "put_pattern": "s_sway", "put_sway_m": -0.0038302414521414266, "rack_put_height_m": 0.3176442011455739, "return_bend_scale": 0.8475913491005201, "return_curve_bias": -0.6920504614022125, "return_pattern": "direct", "return_side": 1.0, "return_vertical_arc_scale": 0.918000517043013, "transfer_bend_m": 0.17292650693582945, "transfer_side": 1.0, "transport_tilt_deg": 8.335907230323391, "vertical_arc_m": 0.06684255260327616, "vortex_apparent_frequency_hz": 8.82820128873514, "vortex_approach_height_m": 0.09249207880502258, "vortex_depart_height_m": 0.13082785128307373, "vortex_frequency_hz": 21.17179871126486, "vortex_phase_rad": 2.465878670087863, "vortex_radius_m": 0.0007210220988836872, "vortex_tilt_deg": 0.4285005520326578 }, "trajectory_validation": { "duration_s": 14.800668543470065, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 2.220446049250313e-16, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.0029931335552480214, "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": 0.6599999999999999, "release_time_s": 3.2539309657350106, "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": [ 0.33975189343711504, 0.21427644326864156, 0.8152000000000001 ], "tube_start_position": [ 0.3108068867715069, 0.23211422870091714, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "56dc4583465e746f500309e244c4aaa21800b6c9a84fcdc55556a42a49d88c29", "video_validation": { "actual_frame_count": 444, "content_valid": true, "decode_error": null, "expected_frame_count": 444, "frame_count_valid": true, "full_decode_frame_count": 444, "max_changed_pixel_fraction": 0.0077230902777777775, "mean_luminance": 136.9270477294922, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 74, 148, 222, 295, 369, 443 ], "spatial_standard_deviation": 30.409042358398438, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.162340651037913, 0.16785745679307018, 0.9790000000000001 ], "vortex_id": "VTX-002", "vortex_position": [ -0.15762199384106756, 0.13978907112059769, 0.79 ], "vortex_yaw_deg": -9.528616650006285, "wrong_orientation": { "azimuth_deg": 74.75476025440554, "mode": "tilted", "tilt_deg_from_z": 51.19676217227159 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ 0.13785589766150197, -0.226102515762987, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 155.20716046430647, "release_lateral_offset_m": 0.02085354416238936, "release_phase_fraction": 0.7150903303855628, "release_tilt_deg": 23.100943284053542, "release_time_s": 13.55862556538927, "slot_offset_xy": [ 0.0, -0.019 ], "tube_target_position": [ 0.12493415028714609, -0.24003192511131644, 0.8500000000000001 ], "yaw_deg": -42.85083009287673 } }