{ "background": { "accent_color_rgb": [ 0.17641962966619415, 0.56138774396111, 0.6727148212128043 ], "cabinet_color_rgb": [ 0.7228827490830302, 0.7976363664915885, 0.7502464019418593 ], "floor_color_rgb": [ 0.33346475930247127, 0.3272732023289782, 0.3963056079529766 ], "screen_color_rgb": [ 0.49517572065592863, 0.7762055567622828, 0.8821437980321079 ], "style": "clean_room", "wall_color_rgb": [ 0.8061114886453362, 0.8557292513046888, 0.8943505835722848 ] }, "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": "RES-008", "pitch_deg": 0.0, "position": [ -0.5415534916821353, -0.43181106239496125, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8213646133945942, "yaw_deg": -86.00013763440298 }, { "asset_id": "PIP-005", "pitch_deg": -91.51596227032296, "position": [ 0.06219895877400683, 1.22569172483096, 0.8571000818090801 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.156525296046964, "yaw_deg": 18.94289988812372 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.5728357574623572, 0.17074255891314744, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7975061981947704, "yaw_deg": -152.99041779301626 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ 0.290921798079102, 1.1168365608818902, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0173029227317143, "yaw_deg": 171.330472209339 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.620952291398195, -0.2714086398155685, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8710724966299943, "yaw_deg": 109.82503221848611 }, { "asset_id": "PIP-018", "pitch_deg": 0.0, "position": [ -0.391702368176291, 0.02597256201065118, 0.8136347366735324 ], "roll_deg": 86.29727116793184, "surface": "main_table", "uniform_scale": 0.9037006513098548, "yaw_deg": 98.95893510459678 }, { "asset_id": "PIP-001", "pitch_deg": 0.0, "position": [ 0.03963364285713422, -0.1959910928865693, 0.7977846216823944 ], "roll_deg": 91.81165844317147, "surface": "main_table", "uniform_scale": 0.8005078771861918, "yaw_deg": 57.185694077182376 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.18307427370540463, 0.28462380549569755, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1184391266437699, "yaw_deg": 149.26636579453418 } ], "duration_s": 18.13371380601278, "episode_id": 1, "error_type": "wrong_orientation", "frame_count": 544, "generation_success": true, "light_color_rgb": [ 0.92, 0.92, 0.9553819127400069 ], "light_intensity": 2327.1423532153567, "liquid": { "color_rgb": [ 0.03471911394167476, 0.29117649053901, 0.22829833329843413 ], "fill_fraction": 0.5581345812474774, "opacity": 0.9333996957038688, "vortex_level_rise_fraction": 0.21631916565629775 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.010104242776648, "direction_azimuth_deg": -162.32859313985983, "lateral_speed_mps": 0.06529809973699648, "phase": "lift_from_rack", "phase_fraction": 0.40998211918368277, "release_clearance_m": 0.007636275388086458, "release_tilt_deg": 120.55993565059049, "stage": "pickup", "tip_duration_s": 0.35222578915232416, "trigger_time_s": 2.1781980328779156, "tube_detach_fraction": 0.60147600119253, "tube_engagement_fraction": 0.6060111351633478, "tube_on_rack": true, "upward_speed_mps": 0.08110391305524246 }, "rack_id": "TR-004", "rack_position": [ -0.05556571461071069, 0.20723517255052853, 0.79 ], "rack_yaw_deg": 14.86532159171756, "randomization_results": { "assets": { "rack_id": "TR-004", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-005", "vortex_id": "VTX-002" }, "distractors": { "count": 8, "placements": [ { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.5415534916821353, -0.43181106239496125, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8213646133945942, "yaw_deg": -86.00013763440298 }, { "asset_id": "PIP-005", "pitch_deg": -91.51596227032296, "position": [ 0.06219895877400683, 1.22569172483096, 0.8571000818090801 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.156525296046964, "yaw_deg": 18.94289988812372 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.5728357574623572, 0.17074255891314744, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7975061981947704, "yaw_deg": -152.99041779301626 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ 0.290921798079102, 1.1168365608818902, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0173029227317143, "yaw_deg": 171.330472209339 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.620952291398195, -0.2714086398155685, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8710724966299943, "yaw_deg": 109.82503221848611 }, { "asset_id": "PIP-018", "pitch_deg": 0.0, "position": [ -0.391702368176291, 0.02597256201065118, 0.8136347366735324 ], "roll_deg": 86.29727116793184, "surface": "main_table", "uniform_scale": 0.9037006513098548, "yaw_deg": 98.95893510459678 }, { "asset_id": "PIP-001", "pitch_deg": 0.0, "position": [ 0.03963364285713422, -0.1959910928865693, 0.7977846216823944 ], "roll_deg": 91.81165844317147, "surface": "main_table", "uniform_scale": 0.8005078771861918, "yaw_deg": 57.185694077182376 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.18307427370540463, 0.28462380549569755, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1184391266437699, "yaw_deg": 149.26636579453418 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.17641962966619415, 0.56138774396111, 0.6727148212128043 ], "cabinet_color_rgb": [ 0.7228827490830302, 0.7976363664915885, 0.7502464019418593 ], "floor_color_rgb": [ 0.33346475930247127, 0.3272732023289782, 0.3963056079529766 ], "screen_color_rgb": [ 0.49517572065592863, 0.7762055567622828, 0.8821437980321079 ], "style": "clean_room", "wall_color_rgb": [ 0.8061114886453362, 0.8557292513046888, 0.8943505835722848 ] }, "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, 0.9553819127400069 ], "light_intensity": 2327.1423532153567, "table_color_rgb": [ 0.26, 0.32, 0.42 ] }, "layout": { "rack_position_m": [ -0.05556571461071069, 0.20723517255052853, 0.79 ], "rack_to_vortex_bearing_deg": -39.032925928242115, "rack_to_vortex_distance_m": 0.4673631721618328, "rack_yaw_deg": 14.86532159171756, "return_slot_offset_xy_m": [ 0.075, 0.0 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ -0.075, 0.0 ], "tube_return_position_m": [ 0.016924150330277027, 0.22647626089909548, 0.8394 ], "tube_start_position_m": [ -0.1280555795516984, 0.1879940842019616, 0.8394 ], "vortex_contact_position_m": [ 0.2855290211507887, -0.06897034784101216, 0.9790000000000001 ], "vortex_position_m": [ 0.30747460580788943, -0.0870946771819292, 0.79 ], "vortex_yaw_deg": 31.375978244985333 }, "liquid": { "color_rgb": [ 0.03471911394167476, 0.29117649053901, 0.22829833329843413 ], "effective_peak_level_fraction": 0.7744537469037751, "effective_vortex_level_rise_fraction": 0.21631916565629775, "fill_fraction": 0.5581345812474774, "opacity": 0.9333996957038688, "present": true, "vortex_level_rise_fraction": 0.21631916565629775 }, "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": 25270909, "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": -0.005808456586738585, "depart_pattern": "spiral", "depart_sway_m": -0.004016453957396816, "handling_noise_amplitude_m": 0.015940484285178795, "handling_noise_frequency_hz": 0.7088543349479016, "handling_noise_phase_xyz_rad": [ 3.4878812272179687, 6.195589434926394, 1.719135173274287 ], "lift_height_m": 0.07942655314315955, "orientation_noise_deg": 5.822567465755058, "outbound_curve_bias": -0.1658661095248799, "outbound_pattern": "high_arc", "phase_boundaries_s": { "final_hold": [ 17.212387851776306, 18.13371380601278 ], "initial_hold": [ 0.0, 1.2322627442921386 ], "lift_from_rack": [ 1.2322627442921386, 3.5395226083789746 ], "lower_to_rack": [ 16.486482108037613, 17.212387851776306 ], "lower_to_vortex": [ 6.941930996660286, 7.578775714834095 ], "raise_from_vortex": [ 12.267216983109137, 13.840814702983687 ], "transfer_to_rack": [ 13.840814702983687, 16.486482108037613 ], "transfer_to_vortex": [ 3.5395226083789746, 6.941930996660286 ], "vortex": [ 7.578775714834095, 12.267216983109137 ] }, "pick_line_azimuth_deg": -175.03125829196682, "pick_line_tilt_deg": 0.6025788932180713, "pick_pattern": "hook", "pick_sway_m": -0.008092874557708275, "put_pattern": "hook", "put_sway_m": 0.0020853962397884675, "rack_put_height_m": 0.18920369969401593, "return_bend_scale": 1.01872937665189, "return_curve_bias": -0.3367710836507258, "return_pattern": "double_s", "return_side": -1.0, "return_vertical_arc_scale": 0.7114013818918501, "transfer_bend_m": 0.2473972539244963, "transfer_side": 1.0, "transport_tilt_deg": 6.149420640320297, "vertical_arc_m": 0.188079097073385, "vortex_apparent_frequency_hz": 5.910775194261305, "vortex_approach_height_m": 0.08920309325663182, "vortex_depart_height_m": 0.3338549614858022, "vortex_frequency_hz": 24.089224805738695, "vortex_phase_rad": 4.24877602802613, "vortex_radius_m": 0.0005005292556849125, "vortex_tilt_deg": 0.4230753783937362 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.075, 0.0 ], "scene_id": "wrong_orientation/scene_000001", "schema_version": 15, "seed": 25270909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "20cd04cd64934fcc04461d4db34014154b1fa0476a2728bcfdeea7f051741372", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ -0.075, 0.0 ], "subtype_event": { "category": "wrong_orientation", "event_phase": "vortex", "is_failure": true, "randomized_parameters": { "azimuth_deg": -48.27248296924009, "mode": "upside_down", "tilt_deg_from_z": 180.0 }, "realized_outcome": { "azimuth_deg": -48.27248296924009, "liquid_level_rise_enabled": true, "orientation_mode": "upside_down", "tilt_deg_from_z": 180.0, "vortex_motion_enabled": true }, "time_window_s": [ 7.578775714834095, 12.267216983109137 ] }, "table_color_rgb": [ 0.26, 0.32, 0.42 ], "task": "vortexing", "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": -0.005808456586738585, "depart_pattern": "spiral", "depart_sway_m": -0.004016453957396816, "handling_noise_amplitude_m": 0.015940484285178795, "handling_noise_frequency_hz": 0.7088543349479016, "handling_noise_phase_xyz_rad": [ 3.4878812272179687, 6.195589434926394, 1.719135173274287 ], "lift_height_m": 0.07942655314315955, "orientation_noise_deg": 5.822567465755058, "outbound_curve_bias": -0.1658661095248799, "outbound_pattern": "high_arc", "phase_boundaries_s": { "final_hold": [ 17.212387851776306, 18.13371380601278 ], "initial_hold": [ 0.0, 1.2322627442921386 ], "lift_from_rack": [ 1.2322627442921386, 3.5395226083789746 ], "lower_to_rack": [ 16.486482108037613, 17.212387851776306 ], "lower_to_vortex": [ 6.941930996660286, 7.578775714834095 ], "raise_from_vortex": [ 12.267216983109137, 13.840814702983687 ], "transfer_to_rack": [ 13.840814702983687, 16.486482108037613 ], "transfer_to_vortex": [ 3.5395226083789746, 6.941930996660286 ], "vortex": [ 7.578775714834095, 12.267216983109137 ] }, "pick_line_azimuth_deg": -175.03125829196682, "pick_line_tilt_deg": 0.6025788932180713, "pick_pattern": "hook", "pick_sway_m": -0.008092874557708275, "put_pattern": "hook", "put_sway_m": 0.0020853962397884675, "rack_put_height_m": 0.18920369969401593, "return_bend_scale": 1.01872937665189, "return_curve_bias": -0.3367710836507258, "return_pattern": "double_s", "return_side": -1.0, "return_vertical_arc_scale": 0.7114013818918501, "transfer_bend_m": 0.2473972539244963, "transfer_side": 1.0, "transport_tilt_deg": 6.149420640320297, "vertical_arc_m": 0.188079097073385, "vortex_apparent_frequency_hz": 5.910775194261305, "vortex_approach_height_m": 0.08920309325663182, "vortex_depart_height_m": 0.3338549614858022, "vortex_frequency_hz": 24.089224805738695, "vortex_phase_rad": 4.24877602802613, "vortex_radius_m": 0.0005005292556849125, "vortex_tilt_deg": 0.4230753783937362 }, "trajectory_validation": { "duration_s": 18.13371380601278, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 9.969394088224146e-16, "max_quaternion_norm_error": 2.220446049250313e-16, "max_sample_step_m": 0.004385948834981768, "valid": true, "wrong_orientation_contact_error_m": 1.1102230246251565e-16, "wrong_orientation_max_tilt_deg": 180.0, "wrong_orientation_min_tilt_deg": 179.5769246216227, "wrong_orientation_valid": true }, "tube_cap_present": true, "tube_drop": { "phase": "transfer_to_rack", "phase_fraction": 0.26, "release_time_s": 14.528688228297709, "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": [ 0.016924150330277027, 0.22647626089909548, 0.8394 ], "tube_start_position": [ -0.1280555795516984, 0.1879940842019616, 0.8394 ], "video": "front.mp4", "video_sha256": "b7b24b8d7756b1cc1b0ced96fea99560f749eb937fc6d9891d6095bd891a4ec7", "video_validation": { "actual_frame_count": 544, "content_valid": true, "decode_error": null, "expected_frame_count": 544, "frame_count_valid": true, "full_decode_frame_count": 544, "max_changed_pixel_fraction": 0.007697916666666666, "mean_luminance": 151.9718780517578, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 90, 181, 272, 362, 452, 543 ], "spatial_standard_deviation": 31.391616821289062, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ 0.2855290211507887, -0.06897034784101216, 0.9790000000000001 ], "vortex_id": "VTX-002", "vortex_position": [ 0.30747460580788943, -0.0870946771819292, 0.79 ], "vortex_yaw_deg": 31.375978244985333, "wrong_orientation": { "azimuth_deg": -48.27248296924009, "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": [ -0.40948408170747086, 0.25510080628459764, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 135.0955894576461, "release_lateral_offset_m": 0.01923737127780102, "release_phase_fraction": 0.6999041623469849, "release_tilt_deg": 31.897543245559774, "release_time_s": 16.994546559551907, "slot_offset_xy": [ 0.0, 0.019 ], "tube_target_position": [ -0.40498125507135146, 0.2735595319254715, 0.8500000000000001 ], "yaw_deg": -13.709007186991734 } }