{ "background": { "accent_color_rgb": [ 0.21755040569243442, 0.4875512999220697, 0.7087803500031677 ], "cabinet_color_rgb": [ 0.7091048076845574, 0.7983749214442983, 0.7430447989258119 ], "floor_color_rgb": [ 0.2760899673834223, 0.39341526859040055, 0.35927657992763384 ], "screen_color_rgb": [ 0.5008511607492014, 0.7593550136207079, 0.8953735073430051 ], "style": "clean_room", "wall_color_rgb": [ 0.7753649012483614, 0.8820886073689876, 0.8999658128275543 ] }, "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": "AUX-TR-003", "pitch_deg": 0.0, "position": [ 0.32531539475932447, 0.21820900794991782, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9101863333769236, "yaw_deg": -153.5612503610351 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ 0.3379306342020614, -0.28350453446233403, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8065315581665642, "yaw_deg": -122.93399564073354 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ -0.6829716142003924, 0.4156481073781568, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0238211830453472, "yaw_deg": -95.51794704514307 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ 0.29372244754453836, 0.39194279491416395, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8135269120282395, "yaw_deg": 143.57929071786134 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ 0.6703688844024277, 1.2579611303649703, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0523913441585593, "yaw_deg": -106.82922379818184 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ -0.7538846052663093, 1.0525632193643915, 0.8477905787393185 ], "roll_deg": 88.23148467461908, "surface": "rear_bench", "uniform_scale": 1.0231111680070153, "yaw_deg": -60.57824809916259 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.6130883932298501, 0.06429746253027241, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.134408632335586, "yaw_deg": 34.68078699863483 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ 0.35398165535621884, 1.2224635608916625, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0019453681716297, "yaw_deg": -40.051210171364545 }, { "asset_id": "PIP-008", "pitch_deg": 0.0, "position": [ 0.08571697490366237, 1.2503160331792376, 0.8451810604729109 ], "roll_deg": 90.10615781635924, "surface": "rear_bench", "uniform_scale": 0.9919635454669502, "yaw_deg": 160.25103359950606 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.8264177615056221, 1.1045620605003854, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.122723894001364, "yaw_deg": 84.03748788597159 } ], "duration_s": 17.79798679739685, "episode_id": 14, "error_type": "wrong_orientation", "frame_count": 534, "generation_success": true, "light_color_rgb": [ 0.92, 0.92, 0.9558756425141275 ], "light_intensity": 2588.5298533046735, "liquid": { "color_rgb": [ 0.3822101939846434, 0.20329866659201704, 0.03996819425892955 ], "fill_fraction": 0.5171846699284847, "opacity": 0.8995200353230012, "vortex_level_rise_fraction": 0.22110582513467067 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 1.4033573392568077, "direction_azimuth_deg": -85.12901432861884, "lateral_speed_mps": 0.06197977812679297, "phase": "lift_from_rack", "phase_fraction": 0.3122503155833396, "release_clearance_m": 0.008968068699845847, "release_tilt_deg": 118.15534824676864, "stage": "pickup", "tip_duration_s": 0.38111096218049045, "trigger_time_s": 1.6077329325577547, "tube_detach_fraction": 0.5087784584427759, "tube_engagement_fraction": 0.41511360854850593, "tube_on_rack": true, "upward_speed_mps": 0.07969456604734483 }, "rack_id": "TR-002", "rack_position": [ -0.5276878361679483, -0.21655370974616692, 0.79 ], "rack_yaw_deg": -14.853025304429757, "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": 10, "placements": [ { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ 0.32531539475932447, 0.21820900794991782, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9101863333769236, "yaw_deg": -153.5612503610351 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ 0.3379306342020614, -0.28350453446233403, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8065315581665642, "yaw_deg": -122.93399564073354 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ -0.6829716142003924, 0.4156481073781568, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0238211830453472, "yaw_deg": -95.51794704514307 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ 0.29372244754453836, 0.39194279491416395, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8135269120282395, "yaw_deg": 143.57929071786134 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ 0.6703688844024277, 1.2579611303649703, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0523913441585593, "yaw_deg": -106.82922379818184 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ -0.7538846052663093, 1.0525632193643915, 0.8477905787393185 ], "roll_deg": 88.23148467461908, "surface": "rear_bench", "uniform_scale": 1.0231111680070153, "yaw_deg": -60.57824809916259 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.6130883932298501, 0.06429746253027241, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.134408632335586, "yaw_deg": 34.68078699863483 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ 0.35398165535621884, 1.2224635608916625, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0019453681716297, "yaw_deg": -40.051210171364545 }, { "asset_id": "PIP-008", "pitch_deg": 0.0, "position": [ 0.08571697490366237, 1.2503160331792376, 0.8451810604729109 ], "roll_deg": 90.10615781635924, "surface": "rear_bench", "uniform_scale": 0.9919635454669502, "yaw_deg": 160.25103359950606 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.8264177615056221, 1.1045620605003854, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.122723894001364, "yaw_deg": 84.03748788597159 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.21755040569243442, 0.4875512999220697, 0.7087803500031677 ], "cabinet_color_rgb": [ 0.7091048076845574, 0.7983749214442983, 0.7430447989258119 ], "floor_color_rgb": [ 0.2760899673834223, 0.39341526859040055, 0.35927657992763384 ], "screen_color_rgb": [ 0.5008511607492014, 0.7593550136207079, 0.8953735073430051 ], "style": "clean_room", "wall_color_rgb": [ 0.7753649012483614, 0.8820886073689876, 0.8999658128275543 ] }, "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, 0.9558756425141275 ], "light_intensity": 2588.5298533046735, "table_color_rgb": [ 0.5, 0.46, 0.38 ] }, "layout": { "rack_position_m": [ -0.5276878361679483, -0.21655370974616692, 0.79 ], "rack_to_vortex_bearing_deg": 25.151700056676813, "rack_to_vortex_distance_m": 0.48453025958699897, "rack_yaw_deg": -14.853025304429757, "return_slot_offset_xy_m": [ -0.068, 0.068 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ 0.034, -0.068 ], "tube_return_position_m": [ -0.5759845748756911, -0.13339467517868275, 0.8152000000000001 ], "tube_start_position_m": [ -0.5122550407790123, -0.29099717034871575, 0.8152000000000001 ], "vortex_contact_position_m": [ -0.11197155954988842, 0.006317707799662967, 0.9790000000000001 ], "vortex_position_m": [ -0.08909799340179642, -0.010620414046305066, 0.79 ], "vortex_yaw_deg": 34.40811157608016 }, "liquid": { "color_rgb": [ 0.3822101939846434, 0.20329866659201704, 0.03996819425892955 ], "effective_peak_level_fraction": 0.7382904950631554, "effective_vortex_level_rise_fraction": 0.22110582513467067, "fill_fraction": 0.5171846699284847, "opacity": 0.8995200353230012, "present": true, "vortex_level_rise_fraction": 0.22110582513467067 }, "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": 25400913, "trajectory": { "approach_pattern": "straight", "approach_sway_m": -0.011821484545537926, "depart_pattern": "lean", "depart_sway_m": 0.010149581982241664, "handling_noise_amplitude_m": 0.0038262195923577528, "handling_noise_frequency_hz": 2.0362729026696105, "handling_noise_phase_xyz_rad": [ 4.595496247372234, 3.0815370707275647, 1.1402547971653505 ], "lift_height_m": 0.11329175984918091, "orientation_noise_deg": 2.694226973389915, "outbound_curve_bias": -0.6680760873179342, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 16.61448303107736, 17.79798679739685 ], "initial_hold": [ 0.0, 1.1267930205815602 ], "lift_from_rack": [ 1.1267930205815602, 2.667031374152837 ], "lower_to_rack": [ 15.605370481963323, 16.61448303107736 ], "lower_to_vortex": [ 5.640256466174462, 6.756920141178448 ], "raise_from_vortex": [ 10.681459529266242, 12.152114772556125 ], "transfer_to_rack": [ 12.152114772556125, 15.605370481963323 ], "transfer_to_vortex": [ 2.667031374152837, 5.640256466174462 ], "vortex": [ 6.756920141178448, 10.681459529266242 ] }, "pick_line_azimuth_deg": -30.18898915476302, "pick_line_tilt_deg": 7.5706139270346675, "pick_pattern": "s_sway", "pick_sway_m": -0.003875365099432486, "put_pattern": "hook", "put_sway_m": 0.0041623868428991365, "rack_put_height_m": 0.36879106891432956, "return_bend_scale": 1.7272436540226652, "return_curve_bias": -0.14538575104209872, "return_pattern": "late_swoop", "return_side": -1.0, "return_vertical_arc_scale": 1.2913556779625905, "transfer_bend_m": 0.21593819704199077, "transfer_side": -1.0, "transport_tilt_deg": 0.34047140103457463, "vertical_arc_m": 0.10954367163525361, "vortex_apparent_frequency_hz": 5.1656316084607425, "vortex_approach_height_m": 0.1974514040742679, "vortex_depart_height_m": 0.22946259893446463, "vortex_frequency_hz": 35.16563160846074, "vortex_phase_rad": 5.326800528822531, "vortex_radius_m": 0.0004409098293352071, "vortex_tilt_deg": 0.7741860201087095 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.068, 0.068 ], "scene_id": "wrong_orientation/scene_000014", "schema_version": 15, "seed": 25400913, "shared_state_file": "shared_state.npz", "shared_state_sha256": "16d6fb20db57e136a798a6080db468c965544ce7e3104f2db12a44546ff40088", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ 0.034, -0.068 ], "subtype_event": { "category": "wrong_orientation", "event_phase": "vortex", "is_failure": true, "randomized_parameters": { "azimuth_deg": 113.73440892128917, "mode": "tilted", "tilt_deg_from_z": 42.11324642797654 }, "realized_outcome": { "azimuth_deg": 113.73440892128917, "liquid_level_rise_enabled": true, "orientation_mode": "tilted", "tilt_deg_from_z": 42.11324642797654, "vortex_motion_enabled": true }, "time_window_s": [ 6.756920141178448, 10.681459529266242 ] }, "table_color_rgb": [ 0.5, 0.46, 0.38 ], "task": "vortexing", "trajectory": { "approach_pattern": "straight", "approach_sway_m": -0.011821484545537926, "depart_pattern": "lean", "depart_sway_m": 0.010149581982241664, "handling_noise_amplitude_m": 0.0038262195923577528, "handling_noise_frequency_hz": 2.0362729026696105, "handling_noise_phase_xyz_rad": [ 4.595496247372234, 3.0815370707275647, 1.1402547971653505 ], "lift_height_m": 0.11329175984918091, "orientation_noise_deg": 2.694226973389915, "outbound_curve_bias": -0.6680760873179342, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 16.61448303107736, 17.79798679739685 ], "initial_hold": [ 0.0, 1.1267930205815602 ], "lift_from_rack": [ 1.1267930205815602, 2.667031374152837 ], "lower_to_rack": [ 15.605370481963323, 16.61448303107736 ], "lower_to_vortex": [ 5.640256466174462, 6.756920141178448 ], "raise_from_vortex": [ 10.681459529266242, 12.152114772556125 ], "transfer_to_rack": [ 12.152114772556125, 15.605370481963323 ], "transfer_to_vortex": [ 2.667031374152837, 5.640256466174462 ], "vortex": [ 6.756920141178448, 10.681459529266242 ] }, "pick_line_azimuth_deg": -30.18898915476302, "pick_line_tilt_deg": 7.5706139270346675, "pick_pattern": "s_sway", "pick_sway_m": -0.003875365099432486, "put_pattern": "hook", "put_sway_m": 0.0041623868428991365, "rack_put_height_m": 0.36879106891432956, "return_bend_scale": 1.7272436540226652, "return_curve_bias": -0.14538575104209872, "return_pattern": "late_swoop", "return_side": -1.0, "return_vertical_arc_scale": 1.2913556779625905, "transfer_bend_m": 0.21593819704199077, "transfer_side": -1.0, "transport_tilt_deg": 0.34047140103457463, "vertical_arc_m": 0.10954367163525361, "vortex_apparent_frequency_hz": 5.1656316084607425, "vortex_approach_height_m": 0.1974514040742679, "vortex_depart_height_m": 0.22946259893446463, "vortex_frequency_hz": 35.16563160846074, "vortex_phase_rad": 5.326800528822531, "vortex_radius_m": 0.0004409098293352071, "vortex_tilt_deg": 0.7741860201087095 }, "trajectory_validation": { "duration_s": 17.79798679739685, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 9.742167503148516e-16, "max_quaternion_norm_error": 2.220446049250313e-16, "max_sample_step_m": 0.004723053898162306, "valid": true, "wrong_orientation_contact_error_m": 0.0, "wrong_orientation_max_tilt_deg": 42.887427882740006, "wrong_orientation_min_tilt_deg": 41.33908917555441, "wrong_orientation_valid": true }, "tube_cap_present": true, "tube_drop": { "phase": "transfer_to_rack", "phase_fraction": 0.6374287947086317, "release_time_s": 14.353319397224256, "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": [ -0.5759845748756911, -0.13339467517868275, 0.8152000000000001 ], "tube_start_position": [ -0.5122550407790123, -0.29099717034871575, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "30baeb5cd1841058276b5f01dcc853abaa4e217ed96c62e1f01bed638e5937d5", "video_validation": { "actual_frame_count": 534, "content_valid": true, "decode_error": null, "expected_frame_count": 534, "frame_count_valid": true, "full_decode_frame_count": 534, "max_changed_pixel_fraction": 0.01212717013888889, "mean_luminance": 157.3172149658203, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 89, 178, 266, 355, 444, 533 ], "spatial_standard_deviation": 33.092185974121094, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.11197155954988842, 0.006317707799662967, 0.9790000000000001 ], "vortex_id": "VTX-002", "vortex_position": [ -0.08909799340179642, -0.010620414046305066, 0.79 ], "vortex_yaw_deg": 34.40811157608016, "wrong_orientation": { "azimuth_deg": 113.73440892128917, "mode": "tilted", "tilt_deg_from_z": 42.11324642797654 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.44705636846621283, 0.3295134246689002, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 122.9397391038504, "release_lateral_offset_m": 0.014386813093187378, "release_phase_fraction": 0.7175261830413682, "release_tilt_deg": 35.10464845581902, "release_time_s": 16.329435157588264, "slot_offset_xy": [ 0.0, -0.019 ], "tube_target_position": [ -0.46119324949753676, 0.31681899302718447, 0.8500000000000001 ], "yaw_deg": -48.07725460556051 } }