{ "background": { "accent_color_rgb": [ 0.19696028852659417, 0.5292375547628207, 0.6637689953073076 ], "cabinet_color_rgb": [ 0.7083737574813651, 0.7577804489342679, 0.783591048340595 ], "floor_color_rgb": [ 0.2871423660160485, 0.39661171928888433, 0.4253607824903405 ], "screen_color_rgb": [ 0.5192799610527252, 0.767967689545457, 0.879150827235963 ], "style": "clean_room", "wall_color_rgb": [ 0.7712990394144066, 0.8107807574239394, 0.8453110527226017 ] }, "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": [ -0.6096734121538612, 0.37520695374135593, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1250251764030583, "yaw_deg": 25.370174543548387 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ 0.1850813040070186, 0.05348545804218596, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0354132094706663, "yaw_deg": 153.59112525527854 }, { "asset_id": "PIP-007", "pitch_deg": 91.86604102573553, "position": [ 0.2766311269335854, 0.36222133909455234, 0.8075030594162093 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7835511251709298, "yaw_deg": -128.1734473744435 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ 0.22416927685961874, -0.3042364431576778, 0.8082683520944858 ], "roll_deg": 89.70994613243111, "surface": "main_table", "uniform_scale": 1.0513817807388046, "yaw_deg": -152.67569032998378 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ -0.5698930900270426, -0.36076694493924844, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0970804781155985, "yaw_deg": -97.71246662744213 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ -0.6252294332113106, 1.1365314542429859, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8559391229064283, "yaw_deg": -105.11117050188109 }, { "asset_id": "PIP-018", "pitch_deg": 88.38384337197357, "position": [ 0.24164111490567464, 1.0955457952763679, 0.864615615818861 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8582544860090826, "yaw_deg": 106.73686890002165 } ], "duration_s": 17.11514673696307, "episode_id": 28, "error_type": "wrong_orientation", "frame_count": 513, "generation_success": true, "light_color_rgb": [ 0.9673020678707498, 0.92, 0.92 ], "light_intensity": 2041.2791860003242, "liquid": { "color_rgb": [ 0.37457889701131347, 0.21222724150150016, 0.025567908345990036 ], "fill_fraction": 0.5499633286308933, "opacity": 0.8553942054147111, "vortex_level_rise_fraction": 0.18385778155131174 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.543762296355099, "direction_azimuth_deg": 66.13945477475554, "lateral_speed_mps": 0.07088705039051255, "phase": "lift_from_rack", "phase_fraction": 0.21880877525830833, "release_clearance_m": 0.0064050002524054656, "release_tilt_deg": 132.31396248956372, "stage": "pickup", "tip_duration_s": 0.4726051690216765, "trigger_time_s": 1.7149674765615646, "tube_detach_fraction": 0.5516096589682947, "tube_engagement_fraction": 0.66901307953497, "tube_on_rack": true, "upward_speed_mps": 0.0400112154772477 }, "rack_id": "TR-002", "rack_position": [ 0.512366290262692, 0.1619822476530443, 0.79 ], "rack_yaw_deg": 6.715477948228951, "randomization_results": { "assets": { "rack_id": "TR-002", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-005", "vortex_id": "VTX-003" }, "distractors": { "count": 7, "placements": [ { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ -0.6096734121538612, 0.37520695374135593, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1250251764030583, "yaw_deg": 25.370174543548387 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ 0.1850813040070186, 0.05348545804218596, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0354132094706663, "yaw_deg": 153.59112525527854 }, { "asset_id": "PIP-007", "pitch_deg": 91.86604102573553, "position": [ 0.2766311269335854, 0.36222133909455234, 0.8075030594162093 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.7835511251709298, "yaw_deg": -128.1734473744435 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ 0.22416927685961874, -0.3042364431576778, 0.8082683520944858 ], "roll_deg": 89.70994613243111, "surface": "main_table", "uniform_scale": 1.0513817807388046, "yaw_deg": -152.67569032998378 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ -0.5698930900270426, -0.36076694493924844, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0970804781155985, "yaw_deg": -97.71246662744213 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ -0.6252294332113106, 1.1365314542429859, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8559391229064283, "yaw_deg": -105.11117050188109 }, { "asset_id": "PIP-018", "pitch_deg": 88.38384337197357, "position": [ 0.24164111490567464, 1.0955457952763679, 0.864615615818861 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8582544860090826, "yaw_deg": 106.73686890002165 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.19696028852659417, 0.5292375547628207, 0.6637689953073076 ], "cabinet_color_rgb": [ 0.7083737574813651, 0.7577804489342679, 0.783591048340595 ], "floor_color_rgb": [ 0.2871423660160485, 0.39661171928888433, 0.4253607824903405 ], "screen_color_rgb": [ 0.5192799610527252, 0.767967689545457, 0.879150827235963 ], "style": "clean_room", "wall_color_rgb": [ 0.7712990394144066, 0.8107807574239394, 0.8453110527226017 ] }, "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": [ 0.9673020678707498, 0.92, 0.92 ], "light_intensity": 2041.2791860003242, "table_color_rgb": [ 0.18, 0.48, 0.28 ] }, "layout": { "rack_position_m": [ 0.512366290262692, 0.1619822476530443, 0.79 ], "rack_to_vortex_bearing_deg": -178.34684660629347, "rack_to_vortex_distance_m": 0.7022915297004447, "rack_yaw_deg": 6.715477948228951, "return_slot_offset_xy_m": [ -0.034, -0.068 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ -0.034, 0.068 ], "tube_return_position_m": [ 0.48655141498717697, 0.09047286215358974, 0.8152000000000001 ], "tube_start_position_m": [ 0.47064770702843733, 0.22553977917312906, 0.8152000000000001 ], "vortex_contact_position_m": [ -0.16837745587098943, 0.19600938150516767, 1.0265 ], "vortex_position_m": [ -0.18963293302259343, 0.14172186276413806, 0.79 ], "vortex_yaw_deg": -21.185540073758425 }, "liquid": { "color_rgb": [ 0.37457889701131347, 0.21222724150150016, 0.025567908345990036 ], "effective_peak_level_fraction": 0.733821110182205, "effective_vortex_level_rise_fraction": 0.18385778155131174, "fill_fraction": 0.5499633286308933, "opacity": 0.8553942054147111, "present": true, "vortex_level_rise_fraction": 0.18385778155131174 }, "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": 25540913, "trajectory": { "approach_pattern": "straight", "approach_sway_m": -0.008822884315491176, "depart_pattern": "spiral", "depart_sway_m": 0.006602367361558421, "handling_noise_amplitude_m": 0.010560047544058274, "handling_noise_frequency_hz": 2.617946912147623, "handling_noise_phase_xyz_rad": [ 0.3071897275609599, 2.5085526043010145, 0.14480761516319315 ], "lift_height_m": 0.15695658607542257, "orientation_noise_deg": 1.27641233455858, "outbound_curve_bias": -0.5759281661576126, "outbound_pattern": "double_s", "phase_boundaries_s": { "final_hold": [ 15.87660725354248, 17.11514673696307 ], "initial_hold": [ 0.0, 1.2543414052195996 ], "lift_from_rack": [ 1.2543414052195996, 3.3594949613244047 ], "lower_to_rack": [ 14.396895960335213, 15.87660725354248 ], "lower_to_vortex": [ 5.203462253622199, 6.040605936679925 ], "raise_from_vortex": [ 10.814467153384715, 11.83990131851777 ], "transfer_to_rack": [ 11.83990131851777, 14.396895960335213 ], "transfer_to_vortex": [ 3.3594949613244047, 5.203462253622199 ], "vortex": [ 6.040605936679925, 10.814467153384715 ] }, "pick_line_azimuth_deg": 63.980399135320965, "pick_line_tilt_deg": 6.8591035702047485, "pick_pattern": "s_sway", "pick_sway_m": 0.004313180895988114, "put_pattern": "spiral", "put_sway_m": 0.00703431343909449, "rack_put_height_m": 0.3275812683563669, "return_bend_scale": 0.8852848242745331, "return_curve_bias": 0.09255919653235634, "return_pattern": "wide_detour", "return_side": 1.0, "return_vertical_arc_scale": 0.9355985327502918, "transfer_bend_m": 0.07152058852770027, "transfer_side": 1.0, "transport_tilt_deg": 3.5062137684630477, "vertical_arc_m": 0.24879041178769176, "vortex_apparent_frequency_hz": 3.529283896712627, "vortex_approach_height_m": 0.17227665648310753, "vortex_depart_height_m": 0.2618454289456971, "vortex_frequency_hz": 33.52928389671263, "vortex_phase_rad": 0.333498911433955, "vortex_radius_m": 0.0005412116984806943, "vortex_tilt_deg": 0.6227443068042909 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.034, -0.068 ], "scene_id": "wrong_orientation/scene_000028", "schema_version": 15, "seed": 25540913, "shared_state_file": "shared_state.npz", "shared_state_sha256": "c8d3f3960ecbe712da1a05c58f03d410e9eddcbed404a75b47ff246a16a6ee2b", "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": 123.18672065747165, "mode": "tilted", "tilt_deg_from_z": 41.95905025718803 }, "realized_outcome": { "azimuth_deg": 123.18672065747165, "liquid_level_rise_enabled": true, "orientation_mode": "tilted", "tilt_deg_from_z": 41.95905025718803, "vortex_motion_enabled": true }, "time_window_s": [ 6.040605936679925, 10.814467153384715 ] }, "table_color_rgb": [ 0.18, 0.48, 0.28 ], "task": "vortexing", "trajectory": { "approach_pattern": "straight", "approach_sway_m": -0.008822884315491176, "depart_pattern": "spiral", "depart_sway_m": 0.006602367361558421, "handling_noise_amplitude_m": 0.010560047544058274, "handling_noise_frequency_hz": 2.617946912147623, "handling_noise_phase_xyz_rad": [ 0.3071897275609599, 2.5085526043010145, 0.14480761516319315 ], "lift_height_m": 0.15695658607542257, "orientation_noise_deg": 1.27641233455858, "outbound_curve_bias": -0.5759281661576126, "outbound_pattern": "double_s", "phase_boundaries_s": { "final_hold": [ 15.87660725354248, 17.11514673696307 ], "initial_hold": [ 0.0, 1.2543414052195996 ], "lift_from_rack": [ 1.2543414052195996, 3.3594949613244047 ], "lower_to_rack": [ 14.396895960335213, 15.87660725354248 ], "lower_to_vortex": [ 5.203462253622199, 6.040605936679925 ], "raise_from_vortex": [ 10.814467153384715, 11.83990131851777 ], "transfer_to_rack": [ 11.83990131851777, 14.396895960335213 ], "transfer_to_vortex": [ 3.3594949613244047, 5.203462253622199 ], "vortex": [ 6.040605936679925, 10.814467153384715 ] }, "pick_line_azimuth_deg": 63.980399135320965, "pick_line_tilt_deg": 6.8591035702047485, "pick_pattern": "s_sway", "pick_sway_m": 0.004313180895988114, "put_pattern": "spiral", "put_sway_m": 0.00703431343909449, "rack_put_height_m": 0.3275812683563669, "return_bend_scale": 0.8852848242745331, "return_curve_bias": 0.09255919653235634, "return_pattern": "wide_detour", "return_side": 1.0, "return_vertical_arc_scale": 0.9355985327502918, "transfer_bend_m": 0.07152058852770027, "transfer_side": 1.0, "transport_tilt_deg": 3.5062137684630477, "vertical_arc_m": 0.24879041178769176, "vortex_apparent_frequency_hz": 3.529283896712627, "vortex_approach_height_m": 0.17227665648310753, "vortex_depart_height_m": 0.2618454289456971, "vortex_frequency_hz": 33.52928389671263, "vortex_phase_rad": 0.333498911433955, "vortex_radius_m": 0.0005412116984806943, "vortex_tilt_deg": 0.6227443068042909 }, "trajectory_validation": { "duration_s": 17.11514673696307, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 8.144263458698792e-16, "max_quaternion_norm_error": 2.220446049250313e-16, "max_sample_step_m": 0.003956041949531998, "valid": true, "wrong_orientation_contact_error_m": 0.0, "wrong_orientation_max_tilt_deg": 42.573265350601496, "wrong_orientation_min_tilt_deg": 41.34571320438512, "wrong_orientation_valid": true }, "tube_cap_present": true, "tube_drop": { "phase": "transfer_to_rack", "phase_fraction": 0.20100036037883562, "release_time_s": 12.353858163009827, "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": [ 0.48655141498717697, 0.09047286215358974, 0.8152000000000001 ], "tube_start_position": [ 0.47064770702843733, 0.22553977917312906, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "ed2d2f5b863693b8a5a442904911a4aa229f7788abf6f74bdecd851581eab388", "video_validation": { "actual_frame_count": 513, "content_valid": true, "decode_error": null, "expected_frame_count": 513, "frame_count_valid": true, "full_decode_frame_count": 513, "max_changed_pixel_fraction": 0.010222222222222223, "mean_luminance": 147.3349151611328, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 85, 171, 256, 341, 427, 512 ], "spatial_standard_deviation": 33.48368453979492, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.16837745587098943, 0.19600938150516767, 1.0265 ], "vortex_id": "VTX-003", "vortex_position": [ -0.18963293302259343, 0.14172186276413806, 0.79 ], "vortex_yaw_deg": -21.185540073758425, "wrong_orientation": { "azimuth_deg": 123.18672065747165, "mode": "tilted", "tilt_deg_from_z": 41.95905025718803 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.6507480170199115, 0.029667406023619003, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 144.99614977724133, "release_lateral_offset_m": 0.014363395790762517, "release_phase_fraction": 0.7113523363129466, "release_tilt_deg": 30.90124918452925, "release_time_s": 15.449492045826853, "slot_offset_xy": [ 0.02, 0.019 ], "tube_target_position": [ -0.6528344580107048, 0.0571746189684438, 0.8500000000000001 ], "yaw_deg": 50.8064190806282 } }