{
  "background": {
    "accent_color_rgb": [
      0.8544223762890603,
      0.6868850893090587,
      0.22268975485957038
    ],
    "cabinet_color_rgb": [
      0.654752510162564,
      0.7108142258786275,
      0.645204024337138
    ],
    "floor_color_rgb": [
      0.2925872041907688,
      0.2959120352696508,
      0.3449457290442619
    ],
    "screen_color_rgb": [
      0.27971790107030525,
      0.7146644203223296,
      0.8069318822499959
    ],
    "style": "biosafety",
    "wall_color_rgb": [
      0.7647786051416806,
      0.8258991341750131,
      0.8050971075788036
    ]
  },
  "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-001",
      "pitch_deg": 0.0,
      "position": [
        -0.44448656364085853,
        -0.2939112334958898,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.8733582890951695,
      "yaw_deg": -158.13156690642822
    },
    {
      "asset_id": "TIP-010",
      "pitch_deg": 0.0,
      "position": [
        0.34188990538711805,
        1.0621777919041364,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.9537978655918946,
      "yaw_deg": -32.54854073412804
    },
    {
      "asset_id": "AUX-TR-004",
      "pitch_deg": 0.0,
      "position": [
        0.6555627577763291,
        -0.3527482774628744,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.9709486935808727,
      "yaw_deg": 32.16262356020735
    },
    {
      "asset_id": "PIP-017",
      "pitch_deg": 0.0,
      "position": [
        -0.4240623966987127,
        1.0876253722986031,
        0.846314257961024
      ],
      "roll_deg": 91.62835469592913,
      "surface": "rear_bench",
      "uniform_scale": 0.9357549089363327,
      "yaw_deg": -117.11633674621397
    },
    {
      "asset_id": "PIP-008",
      "pitch_deg": 90.34673076488401,
      "position": [
        -0.8037867244721486,
        1.1227369923450503,
        0.8392715476598064
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.9534290934572189,
      "yaw_deg": 8.388471611334893
    },
    {
      "asset_id": "AUX-TR-003",
      "pitch_deg": 0.0,
      "position": [
        -0.2910759832864006,
        0.24692051999064057,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.9770948782075504,
      "yaw_deg": 108.7545109073219
    }
  ],
  "duration_s": 15.539296674572853,
  "episode_id": 16,
  "error_type": "wrong_orientation",
  "frame_count": 466,
  "generation_success": true,
  "light_color_rgb": [
    0.9951269785384189,
    0.92,
    0.92
  ],
  "light_intensity": 2679.2417890425513,
  "liquid": {
    "color_rgb": [
      0.031309212572781214,
      0.2397881364240331,
      0.3864233056007154
    ],
    "fill_fraction": 0.45057967032929885,
    "opacity": 0.9234012208793912,
    "vortex_level_rise_fraction": 0.19124460790483774
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 1.8482486264623013,
    "direction_azimuth_deg": 112.89515930361682,
    "lateral_speed_mps": 0.0785117138457817,
    "phase": "lift_from_rack",
    "phase_fraction": 0.29387226083059126,
    "release_clearance_m": 0.00798108043706288,
    "release_tilt_deg": 118.5333929340147,
    "stage": "pickup",
    "tip_duration_s": 0.3175633634896232,
    "trigger_time_s": 1.2333202189799457,
    "tube_detach_fraction": 0.5460531846795458,
    "tube_engagement_fraction": 0.4309928910908162,
    "tube_on_rack": true,
    "upward_speed_mps": 0.04165166612769076
  },
  "rack_id": "TR-002",
  "rack_position": [
    -0.47652868237058277,
    0.0687822631300753,
    0.79
  ],
  "rack_yaw_deg": -23.02995794220824,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-002",
      "source_tube_has_cap": true,
      "tube_cap_present": true,
      "tube_id": "CT-005",
      "vortex_id": "VTX-002"
    },
    "distractors": {
      "count": 6,
      "placements": [
        {
          "asset_id": "RES-001",
          "pitch_deg": 0.0,
          "position": [
            -0.44448656364085853,
            -0.2939112334958898,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.8733582890951695,
          "yaw_deg": -158.13156690642822
        },
        {
          "asset_id": "TIP-010",
          "pitch_deg": 0.0,
          "position": [
            0.34188990538711805,
            1.0621777919041364,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.9537978655918946,
          "yaw_deg": -32.54854073412804
        },
        {
          "asset_id": "AUX-TR-004",
          "pitch_deg": 0.0,
          "position": [
            0.6555627577763291,
            -0.3527482774628744,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.9709486935808727,
          "yaw_deg": 32.16262356020735
        },
        {
          "asset_id": "PIP-017",
          "pitch_deg": 0.0,
          "position": [
            -0.4240623966987127,
            1.0876253722986031,
            0.846314257961024
          ],
          "roll_deg": 91.62835469592913,
          "surface": "rear_bench",
          "uniform_scale": 0.9357549089363327,
          "yaw_deg": -117.11633674621397
        },
        {
          "asset_id": "PIP-008",
          "pitch_deg": 90.34673076488401,
          "position": [
            -0.8037867244721486,
            1.1227369923450503,
            0.8392715476598064
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.9534290934572189,
          "yaw_deg": 8.388471611334893
        },
        {
          "asset_id": "AUX-TR-003",
          "pitch_deg": 0.0,
          "position": [
            -0.2910759832864006,
            0.24692051999064057,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.9770948782075504,
          "yaw_deg": 108.7545109073219
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.8544223762890603,
          0.6868850893090587,
          0.22268975485957038
        ],
        "cabinet_color_rgb": [
          0.654752510162564,
          0.7108142258786275,
          0.645204024337138
        ],
        "floor_color_rgb": [
          0.2925872041907688,
          0.2959120352696508,
          0.3449457290442619
        ],
        "screen_color_rgb": [
          0.27971790107030525,
          0.7146644203223296,
          0.8069318822499959
        ],
        "style": "biosafety",
        "wall_color_rgb": [
          0.7647786051416806,
          0.8258991341750131,
          0.8050971075788036
        ]
      },
      "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": [
        0.9951269785384189,
        0.92,
        0.92
      ],
      "light_intensity": 2679.2417890425513,
      "table_color_rgb": [
        0.16,
        0.42,
        0.46
      ]
    },
    "layout": {
      "rack_position_m": [
        -0.47652868237058277,
        0.0687822631300753,
        0.79
      ],
      "rack_to_vortex_bearing_deg": 0.7809257034823316,
      "rack_to_vortex_distance_m": 0.7203065104911965,
      "rack_yaw_deg": -23.02995794220824,
      "return_slot_offset_xy_m": [
        -0.034,
        0.034
      ],
      "returns_to_different_slot": true,
      "start_slot_offset_xy_m": [
        0.0,
        0.034
      ],
      "tube_return_position_m": [
        -0.494517676190662,
        0.11337369842140844,
        0.8152000000000001
      ],
      "tube_start_position_m": [
        -0.4632274616349558,
        0.10007247768578148,
        0.8152000000000001
      ],
      "vortex_contact_position_m": [
        0.24542393318154568,
        0.10701019857643723,
        0.9790000000000001
      ],
      "vortex_position_m": [
        0.24371092370349356,
        0.07859953863112615,
        0.79
      ],
      "vortex_yaw_deg": -22.521991456415037
    },
    "liquid": {
      "color_rgb": [
        0.031309212572781214,
        0.2397881364240331,
        0.3864233056007154
      ],
      "effective_peak_level_fraction": 0.6418242782341366,
      "effective_vortex_level_rise_fraction": 0.19124460790483774,
      "fill_fraction": 0.45057967032929885,
      "opacity": 0.9234012208793912,
      "present": true,
      "vortex_level_rise_fraction": 0.19124460790483774
    },
    "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": 25420912,
    "trajectory": {
      "approach_pattern": "lean",
      "approach_sway_m": -0.002764082710563516,
      "depart_pattern": "straight",
      "depart_sway_m": 0.010277670667140387,
      "handling_noise_amplitude_m": 0.001763174688970425,
      "handling_noise_frequency_hz": 0.6813923986768275,
      "handling_noise_phase_xyz_rad": [
        2.894628467958434,
        5.741447113823954,
        1.9251360735711456
      ],
      "lift_height_m": 0.12769507549295606,
      "orientation_noise_deg": 5.532536362066179,
      "outbound_curve_bias": 0.4606952552851211,
      "outbound_pattern": "hook",
      "phase_boundaries_s": {
        "final_hold": [
          14.778473727944128,
          15.539296674572853
        ],
        "initial_hold": [
          0.0,
          0.7765732693174485
        ],
        "lift_from_rack": [
          0.7765732693174485,
          2.3308096180342757
        ],
        "lower_to_rack": [
          13.762270910261837,
          14.778473727944128
        ],
        "lower_to_vortex": [
          4.713554071704041,
          5.406685941724553
        ],
        "raise_from_vortex": [
          10.305280303831161,
          11.023061916990871
        ],
        "transfer_to_rack": [
          11.023061916990871,
          13.762270910261837
        ],
        "transfer_to_vortex": [
          2.3308096180342757,
          4.713554071704041
        ],
        "vortex": [
          5.406685941724553,
          10.305280303831161
        ]
      },
      "pick_line_azimuth_deg": 106.03757314630195,
      "pick_line_tilt_deg": 10.507119642586963,
      "pick_pattern": "s_sway",
      "pick_sway_m": -0.00876996268233934,
      "put_pattern": "s_sway",
      "put_sway_m": 0.009647783989492738,
      "rack_put_height_m": 0.3509518039984091,
      "return_bend_scale": 1.1478268961209477,
      "return_curve_bias": 0.06711738400769374,
      "return_pattern": "double_s",
      "return_side": -1.0,
      "return_vertical_arc_scale": 1.6407205946265362,
      "transfer_bend_m": 0.17376793713972896,
      "transfer_side": -1.0,
      "transport_tilt_deg": 0.911202407632056,
      "vertical_arc_m": 0.09301768877498266,
      "vortex_apparent_frequency_hz": 10.324285774549274,
      "vortex_approach_height_m": 0.11351806528235514,
      "vortex_depart_height_m": 0.2956095265691377,
      "vortex_frequency_hz": 40.324285774549274,
      "vortex_phase_rad": 0.861265008681279,
      "vortex_radius_m": 0.0003711350074740021,
      "vortex_tilt_deg": 0.7719967439121974
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    -0.034,
    0.034
  ],
  "scene_id": "wrong_orientation/scene_000016",
  "schema_version": 15,
  "seed": 25420912,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "71546bd2354d7f7757055b702b77d9b62dd0970052e9ebb9c43b33d363e316f4",
  "simultaneous_camera_count": 3,
  "source_tube_has_cap": true,
  "start_slot_offset_xy": [
    0.0,
    0.034
  ],
  "subtype_event": {
    "category": "wrong_orientation",
    "event_phase": "vortex",
    "is_failure": true,
    "randomized_parameters": {
      "azimuth_deg": 68.97164996366902,
      "mode": "tilted",
      "tilt_deg_from_z": 52.543657573135675
    },
    "realized_outcome": {
      "azimuth_deg": 68.97164996366902,
      "liquid_level_rise_enabled": true,
      "orientation_mode": "tilted",
      "tilt_deg_from_z": 52.543657573135675,
      "vortex_motion_enabled": true
    },
    "time_window_s": [
      5.406685941724553,
      10.305280303831161
    ]
  },
  "table_color_rgb": [
    0.16,
    0.42,
    0.46
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "lean",
    "approach_sway_m": -0.002764082710563516,
    "depart_pattern": "straight",
    "depart_sway_m": 0.010277670667140387,
    "handling_noise_amplitude_m": 0.001763174688970425,
    "handling_noise_frequency_hz": 0.6813923986768275,
    "handling_noise_phase_xyz_rad": [
      2.894628467958434,
      5.741447113823954,
      1.9251360735711456
    ],
    "lift_height_m": 0.12769507549295606,
    "orientation_noise_deg": 5.532536362066179,
    "outbound_curve_bias": 0.4606952552851211,
    "outbound_pattern": "hook",
    "phase_boundaries_s": {
      "final_hold": [
        14.778473727944128,
        15.539296674572853
      ],
      "initial_hold": [
        0.0,
        0.7765732693174485
      ],
      "lift_from_rack": [
        0.7765732693174485,
        2.3308096180342757
      ],
      "lower_to_rack": [
        13.762270910261837,
        14.778473727944128
      ],
      "lower_to_vortex": [
        4.713554071704041,
        5.406685941724553
      ],
      "raise_from_vortex": [
        10.305280303831161,
        11.023061916990871
      ],
      "transfer_to_rack": [
        11.023061916990871,
        13.762270910261837
      ],
      "transfer_to_vortex": [
        2.3308096180342757,
        4.713554071704041
      ],
      "vortex": [
        5.406685941724553,
        10.305280303831161
      ]
    },
    "pick_line_azimuth_deg": 106.03757314630195,
    "pick_line_tilt_deg": 10.507119642586963,
    "pick_pattern": "s_sway",
    "pick_sway_m": -0.00876996268233934,
    "put_pattern": "s_sway",
    "put_sway_m": 0.009647783989492738,
    "rack_put_height_m": 0.3509518039984091,
    "return_bend_scale": 1.1478268961209477,
    "return_curve_bias": 0.06711738400769374,
    "return_pattern": "double_s",
    "return_side": -1.0,
    "return_vertical_arc_scale": 1.6407205946265362,
    "transfer_bend_m": 0.17376793713972896,
    "transfer_side": -1.0,
    "transport_tilt_deg": 0.911202407632056,
    "vertical_arc_m": 0.09301768877498266,
    "vortex_apparent_frequency_hz": 10.324285774549274,
    "vortex_approach_height_m": 0.11351806528235514,
    "vortex_depart_height_m": 0.2956095265691377,
    "vortex_frequency_hz": 40.324285774549274,
    "vortex_phase_rad": 0.861265008681279,
    "vortex_radius_m": 0.0003711350074740021,
    "vortex_tilt_deg": 0.7719967439121974
  },
  "trajectory_validation": {
    "duration_s": 15.539296674572853,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 1.3897896032227176e-15,
    "max_quaternion_norm_error": 2.220446049250313e-16,
    "max_sample_step_m": 0.0034641310213429275,
    "valid": true,
    "wrong_orientation_contact_error_m": 0.0,
    "wrong_orientation_max_tilt_deg": 53.31559063211992,
    "wrong_orientation_min_tilt_deg": 51.77175756908032,
    "wrong_orientation_valid": true
  },
  "tube_cap_present": true,
  "tube_drop": {
    "phase": "transfer_to_rack",
    "phase_fraction": 0.4231631739067804,
    "release_time_s": 12.18219428857741,
    "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": [
    -0.494517676190662,
    0.11337369842140844,
    0.8152000000000001
  ],
  "tube_start_position": [
    -0.4632274616349558,
    0.10007247768578148,
    0.8152000000000001
  ],
  "video": "front.mp4",
  "video_sha256": "144a1a86590c6b3a2477fba4ceccb05fae039c619608b7f478f252880971ae23",
  "video_validation": {
    "actual_frame_count": 466,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 466,
    "frame_count_valid": true,
    "full_decode_frame_count": 466,
    "max_changed_pixel_fraction": 0.008748263888888889,
    "mean_luminance": 150.417236328125,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      78,
      155,
      232,
      310,
      388,
      465
    ],
    "spatial_standard_deviation": 38.167442321777344,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    0.24542393318154568,
    0.10701019857643723,
    0.9790000000000001
  ],
  "vortex_id": "VTX-002",
  "vortex_position": [
    0.24371092370349356,
    0.07859953863112615,
    0.79
  ],
  "vortex_yaw_deg": -22.521991456415037,
  "wrong_orientation": {
    "azimuth_deg": 68.97164996366902,
    "mode": "tilted",
    "tilt_deg_from_z": 52.543657573135675
  },
  "wrong_rack": {
    "hole_relation": "too_small",
    "insertion_depth_m": 0.0,
    "insertion_succeeds": false,
    "placement_outcome": "physx_drop_pending",
    "position": [
      0.2736597640442139,
      -0.2741174848904924,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": 145.3525461533302,
    "release_lateral_offset_m": 0.01689255056540396,
    "release_phase_fraction": 0.6554617764042098,
    "release_tilt_deg": 34.855606692968756,
    "release_time_s": 14.428353014326834,
    "slot_offset_xy": [
      -0.04,
      0.019
    ],
    "tube_target_position": [
      0.27913122504003934,
      -0.2301736216719364,
      0.8500000000000001
    ],
    "yaw_deg": -71.68966715734447
  }
}