{ "background": { "accent_color_rgb": [ 0.8836220011654301, 0.5759729725506081, 0.1515015275516748 ], "cabinet_color_rgb": [ 0.5247869184396831, 0.5884173613222183, 0.5350193524211422 ], "floor_color_rgb": [ 0.234875398784772, 0.29284540292617134, 0.32109206753414893 ], "screen_color_rgb": [ 0.34751137837214796, 0.7403058645906825, 0.640796019766206 ], "style": "wet_lab", "wall_color_rgb": [ 0.6768100924617269, 0.7911501195408034, 0.7237169616643578 ] }, "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": "PIP-007", "pitch_deg": 0.0, "position": [ 0.08711977827614903, -0.3143072851243601, 0.8004944351044688 ], "roll_deg": 91.1032433981728, "surface": "main_table", "uniform_scale": 1.098289571919644, "yaw_deg": -129.01925580399578 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ -0.5823847255099298, 0.2858614735448618, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0203641091362354, "yaw_deg": 159.63574386154926 }, { "asset_id": "PIP-005", "pitch_deg": -87.52798557995594, "position": [ -0.08409422170934078, 1.2337851521954772, 0.8523025431904437 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9479366604540769, "yaw_deg": 96.23461271150455 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ 0.5175900527706501, 0.22404661407581872, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8085595747926975, "yaw_deg": 95.37615181383046 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ -0.6313943992589663, 0.049207579227043385, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9331424568743143, "yaw_deg": -53.91004787967468 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ -0.09024414806192604, 0.006216653386158233, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0779589198065613, "yaw_deg": 91.86107940927423 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.3236659316952359, 0.05034204488925431, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9798767453906504, "yaw_deg": 53.65402642715438 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ 0.6359540137998688, 1.1834327084454597, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.7848801960364779, "yaw_deg": 46.46383426255707 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ 0.4382073114375451, -0.3891768057321059, 0.8048491595519228 ], "roll_deg": -90.20690008922244, "surface": "main_table", "uniform_scale": 0.8490626953800455, "yaw_deg": -38.988331610488046 } ], "duration_s": 17.26144832281934, "episode_id": 44, "error_type": "wrong_orientation", "frame_count": 518, "generation_success": true, "light_color_rgb": [ 0.9336891609059025, 0.92, 0.92 ], "light_intensity": 1898.712005014262, "liquid": { "color_rgb": [ 0.3893482429347007, 0.22010862952993568, 0.05435428505560627 ], "fill_fraction": 0.4539757930181513, "opacity": 0.8246861367197558, "vortex_level_rise_fraction": 0.22565697938594087 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.3948421187161437, "direction_azimuth_deg": -156.57663153610588, "lateral_speed_mps": 0.03983661818081536, "phase": "lower_to_rack", "phase_fraction": 0.7599292780461031, "release_clearance_m": 0.00966561789191079, "release_tilt_deg": 112.83930286970362, "stage": "insertion", "tip_duration_s": 0.38750949493431763, "trigger_time_s": 15.84436675132403, "tube_detach_fraction": 0.5200852535108247, "tube_engagement_fraction": 0.41707026351401727, "tube_on_rack": true, "upward_speed_mps": 0.09048398519040851 }, "rack_id": "TR-002", "rack_position": [ 0.46477732183696596, -0.07779842711939364, 0.79 ], "rack_yaw_deg": -21.91630721229651, "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": 9, "placements": [ { "asset_id": "PIP-007", "pitch_deg": 0.0, "position": [ 0.08711977827614903, -0.3143072851243601, 0.8004944351044688 ], "roll_deg": 91.1032433981728, "surface": "main_table", "uniform_scale": 1.098289571919644, "yaw_deg": -129.01925580399578 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ -0.5823847255099298, 0.2858614735448618, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0203641091362354, "yaw_deg": 159.63574386154926 }, { "asset_id": "PIP-005", "pitch_deg": -87.52798557995594, "position": [ -0.08409422170934078, 1.2337851521954772, 0.8523025431904437 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9479366604540769, "yaw_deg": 96.23461271150455 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ 0.5175900527706501, 0.22404661407581872, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8085595747926975, "yaw_deg": 95.37615181383046 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ -0.6313943992589663, 0.049207579227043385, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9331424568743143, "yaw_deg": -53.91004787967468 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ -0.09024414806192604, 0.006216653386158233, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0779589198065613, "yaw_deg": 91.86107940927423 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.3236659316952359, 0.05034204488925431, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9798767453906504, "yaw_deg": 53.65402642715438 }, { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ 0.6359540137998688, 1.1834327084454597, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.7848801960364779, "yaw_deg": 46.46383426255707 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ 0.4382073114375451, -0.3891768057321059, 0.8048491595519228 ], "roll_deg": -90.20690008922244, "surface": "main_table", "uniform_scale": 0.8490626953800455, "yaw_deg": -38.988331610488046 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8836220011654301, 0.5759729725506081, 0.1515015275516748 ], "cabinet_color_rgb": [ 0.5247869184396831, 0.5884173613222183, 0.5350193524211422 ], "floor_color_rgb": [ 0.234875398784772, 0.29284540292617134, 0.32109206753414893 ], "screen_color_rgb": [ 0.34751137837214796, 0.7403058645906825, 0.640796019766206 ], "style": "wet_lab", "wall_color_rgb": [ 0.6768100924617269, 0.7911501195408034, 0.7237169616643578 ] }, "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": [ 0.9336891609059025, 0.92, 0.92 ], "light_intensity": 1898.712005014262, "table_color_rgb": [ 0.18, 0.48, 0.28 ] }, "layout": { "rack_position_m": [ 0.46477732183696596, -0.07779842711939364, 0.79 ], "rack_to_vortex_bearing_deg": 143.14272171290315, "rack_to_vortex_distance_m": 0.5394783936035684, "rack_yaw_deg": -21.91630721229651, "return_slot_offset_xy_m": [ -0.034, 0.034 ], "returns_to_different_slot": false, "start_slot_offset_xy_m": [ -0.034, 0.034 ], "tube_return_position_m": [ 0.44592506251295266, -0.033565042460516864, 0.8152000000000001 ], "tube_start_position_m": [ 0.44592506251295266, -0.033565042460516864, 0.8152000000000001 ], "vortex_contact_position_m": [ 0.057117929975232046, 0.2989272348673402, 1.0265 ], "vortex_position_m": [ 0.033123325560244166, 0.2457935453759427, 0.79 ], "vortex_yaw_deg": -24.10687066699488 }, "liquid": { "color_rgb": [ 0.3893482429347007, 0.22010862952993568, 0.05435428505560627 ], "effective_peak_level_fraction": 0.6796327724040921, "effective_vortex_level_rise_fraction": 0.22565697938594087, "fill_fraction": 0.4539757930181513, "opacity": 0.8246861367197558, "present": true, "vortex_level_rise_fraction": 0.22565697938594087 }, "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": 25700909, "trajectory": { "approach_pattern": "straight", "approach_sway_m": -0.003869334016298585, "depart_pattern": "s_sway", "depart_sway_m": 0.0033342915614362548, "handling_noise_amplitude_m": 0.013305849695868417, "handling_noise_frequency_hz": 1.3343912740056432, "handling_noise_phase_xyz_rad": [ 2.7270873028327216, 2.6878476761743957, 2.9311059251548355 ], "lift_height_m": 0.11889063990159435, "orientation_noise_deg": 1.9503424060242958, "outbound_curve_bias": 0.2741422102668255, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 16.104493563928838, 17.26144832281934 ], "initial_hold": [ 0.0, 0.7500178339899651 ], "lift_from_rack": [ 0.7500178339899651, 2.579975216595499 ], "lower_to_rack": [ 15.02095113739853, 16.104493563928838 ], "lower_to_vortex": [ 6.051439339244599, 7.0267052617245715 ], "raise_from_vortex": [ 11.254216269609788, 12.296125017038182 ], "transfer_to_rack": [ 12.296125017038182, 15.02095113739853 ], "transfer_to_vortex": [ 2.579975216595499, 6.051439339244599 ], "vortex": [ 7.0267052617245715, 11.254216269609788 ] }, "pick_line_azimuth_deg": 19.064492882045613, "pick_line_tilt_deg": 0.34821853348725185, "pick_pattern": "s_sway", "pick_sway_m": -0.005502555112461904, "put_pattern": "hook", "put_sway_m": 0.002406722333175097, "rack_put_height_m": 0.2173764341344163, "return_bend_scale": 0.4963842250837759, "return_curve_bias": -0.3411454516446837, "return_pattern": "zigzag", "return_side": 1.0, "return_vertical_arc_scale": 1.2594156159695566, "transfer_bend_m": 0.25004194794866336, "transfer_side": -1.0, "transport_tilt_deg": 3.8035119928552583, "vertical_arc_m": 0.2658817493782507, "vortex_apparent_frequency_hz": 6.921592258913552, "vortex_approach_height_m": 0.13540746992967667, "vortex_depart_height_m": 0.09784502084409781, "vortex_frequency_hz": 23.078407741086448, "vortex_phase_rad": 2.2070897057206067, "vortex_radius_m": 0.0007468588008176265, "vortex_tilt_deg": 0.3878678667933284 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.034, 0.034 ], "scene_id": "wrong_orientation/scene_000044", "schema_version": 15, "seed": 25700909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "9663dddf29fe199f3f5d1b6ad7e210b8b724a38802db801bf05dee4939fa2625", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ -0.034, 0.034 ], "subtype_event": { "category": "wrong_orientation", "event_phase": "vortex", "is_failure": true, "randomized_parameters": { "azimuth_deg": -86.60577080597999, "mode": "tilted", "tilt_deg_from_z": 38.648409617959615 }, "realized_outcome": { "azimuth_deg": -86.60577080597999, "liquid_level_rise_enabled": true, "orientation_mode": "tilted", "tilt_deg_from_z": 38.648409617959615, "vortex_motion_enabled": true }, "time_window_s": [ 7.0267052617245715, 11.254216269609788 ] }, "table_color_rgb": [ 0.18, 0.48, 0.28 ], "task": "vortexing", "trajectory": { "approach_pattern": "straight", "approach_sway_m": -0.003869334016298585, "depart_pattern": "s_sway", "depart_sway_m": 0.0033342915614362548, "handling_noise_amplitude_m": 0.013305849695868417, "handling_noise_frequency_hz": 1.3343912740056432, "handling_noise_phase_xyz_rad": [ 2.7270873028327216, 2.6878476761743957, 2.9311059251548355 ], "lift_height_m": 0.11889063990159435, "orientation_noise_deg": 1.9503424060242958, "outbound_curve_bias": 0.2741422102668255, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 16.104493563928838, 17.26144832281934 ], "initial_hold": [ 0.0, 0.7500178339899651 ], "lift_from_rack": [ 0.7500178339899651, 2.579975216595499 ], "lower_to_rack": [ 15.02095113739853, 16.104493563928838 ], "lower_to_vortex": [ 6.051439339244599, 7.0267052617245715 ], "raise_from_vortex": [ 11.254216269609788, 12.296125017038182 ], "transfer_to_rack": [ 12.296125017038182, 15.02095113739853 ], "transfer_to_vortex": [ 2.579975216595499, 6.051439339244599 ], "vortex": [ 7.0267052617245715, 11.254216269609788 ] }, "pick_line_azimuth_deg": 19.064492882045613, "pick_line_tilt_deg": 0.34821853348725185, "pick_pattern": "s_sway", "pick_sway_m": -0.005502555112461904, "put_pattern": "hook", "put_sway_m": 0.002406722333175097, "rack_put_height_m": 0.2173764341344163, "return_bend_scale": 0.4963842250837759, "return_curve_bias": -0.3411454516446837, "return_pattern": "zigzag", "return_side": 1.0, "return_vertical_arc_scale": 1.2594156159695566, "transfer_bend_m": 0.25004194794866336, "transfer_side": -1.0, "transport_tilt_deg": 3.8035119928552583, "vertical_arc_m": 0.2658817493782507, "vortex_apparent_frequency_hz": 6.921592258913552, "vortex_approach_height_m": 0.13540746992967667, "vortex_depart_height_m": 0.09784502084409781, "vortex_frequency_hz": 23.078407741086448, "vortex_phase_rad": 2.2070897057206067, "vortex_radius_m": 0.0007468588008176265, "vortex_tilt_deg": 0.3878678667933284 }, "trajectory_validation": { "duration_s": 17.26144832281934, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 1.2103348561243459e-15, "max_quaternion_norm_error": 2.220446049250313e-16, "max_sample_step_m": 0.004303153580139653, "valid": true, "wrong_orientation_contact_error_m": 0.0, "wrong_orientation_max_tilt_deg": 39.036275435718515, "wrong_orientation_min_tilt_deg": 38.26056060210704, "wrong_orientation_valid": true }, "tube_cap_present": true, "tube_drop": { "phase": "vortex", "phase_fraction": 0.5289024233786856, "release_time_s": 9.262646078655132, "target_surface": "vortex", "vortex_release_azimuth_deg": 63.41995161124973, "vortex_release_offset_m": 0.029741026016616767, "vortex_release_tilt_deg": 0.0 }, "tube_id": "CT-005", "tube_return_position": [ 0.44592506251295266, -0.033565042460516864, 0.8152000000000001 ], "tube_start_position": [ 0.44592506251295266, -0.033565042460516864, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "2964763c2cabf0f4213fb30cbbbbbf70b77c7e29dd45487726c6a368bdb7e6a8", "video_validation": { "actual_frame_count": 518, "content_valid": true, "decode_error": null, "expected_frame_count": 518, "frame_count_valid": true, "full_decode_frame_count": 518, "max_changed_pixel_fraction": 0.010781684027777778, "mean_luminance": 132.69668579101562, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 86, 172, 258, 345, 431, 517 ], "spatial_standard_deviation": 32.95667266845703, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ 0.057117929975232046, 0.2989272348673402, 1.0265 ], "vortex_id": "VTX-003", "vortex_position": [ 0.033123325560244166, 0.2457935453759427, 0.79 ], "vortex_yaw_deg": -24.10687066699488, "wrong_orientation": { "azimuth_deg": -86.60577080597999, "mode": "tilted", "tilt_deg_from_z": 38.648409617959615 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.4315215055153054, -0.2520588968027662, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 79.43084820240995, "release_lateral_offset_m": 0.01657676916488037, "release_phase_fraction": 0.6590193535803411, "release_tilt_deg": 27.36502479058156, "release_time_s": 15.735026566907408, "slot_offset_xy": [ -0.02, 0.019 ], "tube_target_position": [ -0.4529672716812243, -0.234707265364866, 0.8500000000000001 ], "yaw_deg": 4.555100341295827 } }