{ "background": { "accent_color_rgb": [ 0.2307020452971862, 0.4993895629087351, 0.7097830476829311 ], "cabinet_color_rgb": [ 0.7188027082548587, 0.7346407850000637, 0.8249614456349225 ], "floor_color_rgb": [ 0.3387244183301694, 0.3439892331527805, 0.3813759507557278 ], "screen_color_rgb": [ 0.5267658379753244, 0.7637043284371342, 0.9127199898664554 ], "style": "clean_room", "wall_color_rgb": [ 0.7792774619320233, 0.8416113423055119, 0.9159425661267405 ] }, "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": "TR-008", "pitch_deg": 0.0, "position": [ -0.7608108148592194, 0.41601026755356496, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0686640902087237, "yaw_deg": 2.682565086081979 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ -0.5548389197881436, 0.18269069364786344, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9065590928135987, "yaw_deg": -73.0351381469048 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.8017137947590267, 1.1986578759170226, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9932363633312165, "yaw_deg": 60.25558605670412 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ -0.08316211502972504, 1.1712688379434646, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.791385244035424, "yaw_deg": 58.39820655525199 } ], "duration_s": 14.689968757586323, "episode_id": 22, "error_type": "wrong_rack", "frame_count": 441, "generation_success": true, "light_color_rgb": [ 0.92, 0.92, 0.9602098560811446 ], "light_intensity": 2250.972784261369, "liquid": { "color_rgb": [ 0.06487641436718261, 0.22757085912664657, 0.3857596667683268 ], "fill_fraction": 0.5569888980999116, "opacity": 0.9257409689223365, "vortex_level_rise_fraction": 0.20169242475205282 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 1.6619535657935698, "direction_azimuth_deg": -29.636362696066527, "lateral_speed_mps": 0.0606543408379327, "phase": "lift_from_rack", "phase_fraction": 0.27688054109736093, "release_clearance_m": 0.004070622091040952, "release_tilt_deg": 139.11027503162882, "stage": "pickup", "tip_duration_s": 0.30585769788194794, "trigger_time_s": 1.0885147479036248, "tube_detach_fraction": 0.4583461637059853, "tube_engagement_fraction": 0.6507175899664167, "tube_on_rack": true, "upward_speed_mps": 0.09824316673985277 }, "rack_id": "TR-002", "rack_position": [ 0.5641820067490566, -0.3104657014094717, 0.79 ], "rack_yaw_deg": 50.72778901475853, "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": 4, "placements": [ { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ -0.7608108148592194, 0.41601026755356496, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0686640902087237, "yaw_deg": 2.682565086081979 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ -0.5548389197881436, 0.18269069364786344, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9065590928135987, "yaw_deg": -73.0351381469048 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.8017137947590267, 1.1986578759170226, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.9932363633312165, "yaw_deg": 60.25558605670412 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ -0.08316211502972504, 1.1712688379434646, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.791385244035424, "yaw_deg": 58.39820655525199 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.2307020452971862, 0.4993895629087351, 0.7097830476829311 ], "cabinet_color_rgb": [ 0.7188027082548587, 0.7346407850000637, 0.8249614456349225 ], "floor_color_rgb": [ 0.3387244183301694, 0.3439892331527805, 0.3813759507557278 ], "screen_color_rgb": [ 0.5267658379753244, 0.7637043284371342, 0.9127199898664554 ], "style": "clean_room", "wall_color_rgb": [ 0.7792774619320233, 0.8416113423055119, 0.9159425661267405 ] }, "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, 0.9602098560811446 ], "light_intensity": 2250.972784261369, "table_color_rgb": [ 0.16, 0.42, 0.46 ] }, "layout": { "rack_position_m": [ 0.5641820067490566, -0.3104657014094717, 0.79 ], "rack_to_vortex_bearing_deg": 160.37466926372628, "rack_to_vortex_distance_m": 0.49849518022715544, "rack_yaw_deg": 50.72778901475853, "return_slot_offset_xy_m": [ -0.034, 0.0 ], "returns_to_different_slot": false, "start_slot_offset_xy_m": [ -0.034, 0.0 ], "tube_return_position_m": [ 0.5426598204950932, -0.33678671010689265, 0.8152000000000001 ], "tube_start_position_m": [ 0.5426598204950932, -0.33678671010689265, 0.8152000000000001 ], "vortex_contact_position_m": [ 0.10332221527338961, -0.11592984338241721, 0.9790000000000001 ], "vortex_position_m": [ 0.09464488212369143, -0.14303710974052034, 0.79 ], "vortex_yaw_deg": -36.821981015151906 }, "liquid": { "color_rgb": [ 0.06487641436718261, 0.22757085912664657, 0.3857596667683268 ], "effective_peak_level_fraction": 0.7586813228519644, "effective_vortex_level_rise_fraction": 0.20169242475205282, "fill_fraction": 0.5569888980999116, "opacity": 0.9257409689223365, "present": true, "vortex_level_rise_fraction": 0.20169242475205282 }, "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": 26480910, "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": -0.0042509600122493645, "depart_pattern": "straight", "depart_sway_m": -0.009290807865885436, "handling_noise_amplitude_m": 0.010117891768709305, "handling_noise_frequency_hz": 0.5226613769770913, "handling_noise_phase_xyz_rad": [ 0.40075665777880887, 1.5868690613008127, 5.972843282873303 ], "lift_height_m": 0.09079704976523047, "orientation_noise_deg": 0.6347982629649922, "outbound_curve_bias": -0.001226692145830266, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 13.762843754752355, 14.689968757586323 ], "initial_hold": [ 0.0, 0.8015366039076598 ], "lift_from_rack": [ 0.8015366039076598, 1.8380057716526523 ], "lower_to_rack": [ 12.207241779145019, 13.762843754752355 ], "lower_to_vortex": [ 4.72969212455127, 5.6365799483241785 ], "raise_from_vortex": [ 8.914690588454953, 10.044221098998348 ], "transfer_to_rack": [ 10.044221098998348, 12.207241779145019 ], "transfer_to_vortex": [ 1.8380057716526523, 4.72969212455127 ], "vortex": [ 5.6365799483241785, 8.914690588454953 ] }, "pick_line_azimuth_deg": -104.76237233005446, "pick_line_tilt_deg": 4.320743204178622, "pick_pattern": "spiral", "pick_sway_m": -0.006671354347266786, "put_pattern": "lean", "put_sway_m": -0.004941432461359029, "rack_put_height_m": 0.21073032083012866, "return_bend_scale": 0.6354173832887107, "return_curve_bias": -0.20067140462048072, "return_pattern": "wide_detour", "return_side": 1.0, "return_vertical_arc_scale": 0.639422935295503, "transfer_bend_m": 0.2817983890458434, "transfer_side": 1.0, "transport_tilt_deg": 15.148879845889478, "vertical_arc_m": 0.20723887947076364, "vortex_apparent_frequency_hz": 3.574895324102094, "vortex_approach_height_m": 0.29453768031808053, "vortex_depart_height_m": 0.23804332071918072, "vortex_frequency_hz": 26.425104675897906, "vortex_phase_rad": 0.18921252741277422, "vortex_radius_m": 0.0006377185267808726, "vortex_tilt_deg": 0.26343042651092935 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.034, 0.0 ], "scene_id": "wrong_rack/scene_000022", "schema_version": 15, "seed": 26480910, "shared_state_file": "shared_state.npz", "shared_state_sha256": "f78c96671edfdf854459d2749bceda4d23a493692c49b024f692c500c6cdfe2f", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ -0.034, 0.0 ], "subtype_event": { "category": "wrong_rack", "event_phase": "lower_to_rack", "event_time_s": 13.297284608292147, "is_failure": true, "randomized_parameters": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.37412197530868857, -0.017441215476285632, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -133.59512924641461, "release_lateral_offset_m": 0.015996457231655586, "release_phase_fraction": 0.7007209082011833, "release_tilt_deg": 34.30843637118829, "release_time_s": 13.297284608292147, "slot_offset_xy": [ -0.02, -0.019 ], "tube_target_position": [ -0.38894511928468256, -0.040706520173773554, 0.8500000000000001 ], "yaw_deg": 13.96615522034601 }, "realized_outcome": { "fall_distance_m": 0.07563711131061734, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 32.29039001464844, "final_linear_speed_mps": 0.0101292310282588, "final_linear_velocity_mps": [ 0.006985649466514587, -0.007331717759370804, -0.00021894530800636858 ], "final_position_m": [ -0.3484790623188019, -0.13868187367916107, 0.8085994124412537 ], "final_protected_visual_minimum_z_m": 0.7902501833924165, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 90.00022872904103, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.34020960330963135, "first_impact_position_m": [ -0.39830121397972107, -0.054057419300079346, 0.8576657176017761 ], "first_impact_time_s": 13.4, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8085985779762268, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": -133.59512924641461, "planned_release_lateral_offset_m": 0.015996457231655586, "planned_release_tilt_deg": 34.30843637118829, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.03423568928684406, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7007209082011833, "release_position_m": [ -0.387851632895061, -0.038603029485448345, 0.8842356892868442 ], "release_time_s": 13.297284608292147, "support_clearance_m": 0.0002501833924164476, "support_surface_z_m": 0.79, "target_body": "wrong_rack", "tube_root_below_rack_top": true, "valid": true, "visual_surface_nonpenetration_valid": true, "wrong_rack_id": "TR-003" } }, "table_color_rgb": [ 0.16, 0.42, 0.46 ], "task": "vortexing", "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": -0.0042509600122493645, "depart_pattern": "straight", "depart_sway_m": -0.009290807865885436, "handling_noise_amplitude_m": 0.010117891768709305, "handling_noise_frequency_hz": 0.5226613769770913, "handling_noise_phase_xyz_rad": [ 0.40075665777880887, 1.5868690613008127, 5.972843282873303 ], "lift_height_m": 0.09079704976523047, "orientation_noise_deg": 0.6347982629649922, "outbound_curve_bias": -0.001226692145830266, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 13.762843754752355, 14.689968757586323 ], "initial_hold": [ 0.0, 0.8015366039076598 ], "lift_from_rack": [ 0.8015366039076598, 1.8380057716526523 ], "lower_to_rack": [ 12.207241779145019, 13.762843754752355 ], "lower_to_vortex": [ 4.72969212455127, 5.6365799483241785 ], "raise_from_vortex": [ 8.914690588454953, 10.044221098998348 ], "transfer_to_rack": [ 10.044221098998348, 12.207241779145019 ], "transfer_to_vortex": [ 1.8380057716526523, 4.72969212455127 ], "vortex": [ 5.6365799483241785, 8.914690588454953 ] }, "pick_line_azimuth_deg": -104.76237233005446, "pick_line_tilt_deg": 4.320743204178622, "pick_pattern": "spiral", "pick_sway_m": -0.006671354347266786, "put_pattern": "lean", "put_sway_m": -0.004941432461359029, "rack_put_height_m": 0.21073032083012866, "return_bend_scale": 0.6354173832887107, "return_curve_bias": -0.20067140462048072, "return_pattern": "wide_detour", "return_side": 1.0, "return_vertical_arc_scale": 0.639422935295503, "transfer_bend_m": 0.2817983890458434, "transfer_side": 1.0, "transport_tilt_deg": 15.148879845889478, "vertical_arc_m": 0.20723887947076364, "vortex_apparent_frequency_hz": 3.574895324102094, "vortex_approach_height_m": 0.29453768031808053, "vortex_depart_height_m": 0.23804332071918072, "vortex_frequency_hz": 26.425104675897906, "vortex_phase_rad": 0.18921252741277422, "vortex_radius_m": 0.0006377185267808726, "vortex_tilt_deg": 0.26343042651092935 }, "trajectory_validation": { "duration_s": 14.689968757586323, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 1.4911358492086037e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.0054915128791630475, "valid": true, "wrong_orientation_contact_error_m": 0.0, "wrong_orientation_max_tilt_deg": 0.0, "wrong_orientation_min_tilt_deg": 0.0, "wrong_orientation_valid": true }, "tube_cap_present": true, "tube_drop": { "phase": "vortex", "phase_fraction": 0.7085604486157406, "release_time_s": 7.959319494107273, "target_surface": "vortex", "vortex_release_azimuth_deg": 73.7818516606842, "vortex_release_offset_m": 0.03621673473136145, "vortex_release_tilt_deg": 0.0 }, "tube_id": "CT-009", "tube_return_position": [ 0.5426598204950932, -0.33678671010689265, 0.8152000000000001 ], "tube_start_position": [ 0.5426598204950932, -0.33678671010689265, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "1449bcfe02cc37f640ae832c9f5b32200d48329247e2b94728ddf94b17696994", "video_validation": { "actual_frame_count": 441, "content_valid": true, "decode_error": null, "expected_frame_count": 441, "frame_count_valid": true, "full_decode_frame_count": 441, "max_changed_pixel_fraction": 0.011754774305555556, "mean_luminance": 150.37625122070312, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 73, 147, 220, 293, 367, 440 ], "spatial_standard_deviation": 35.57480239868164, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ 0.10332221527338961, -0.11592984338241721, 0.9790000000000001 ], "vortex_id": "VTX-002", "vortex_position": [ 0.09464488212369143, -0.14303710974052034, 0.79 ], "vortex_yaw_deg": -36.821981015151906, "wrong_orientation": { "azimuth_deg": -5.3493059692748375, "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": [ -0.37412197530868857, -0.017441215476285632, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -133.59512924641461, "release_lateral_offset_m": 0.015996457231655586, "release_phase_fraction": 0.7007209082011833, "release_tilt_deg": 34.30843637118829, "release_time_s": 13.297284608292147, "slot_offset_xy": [ -0.02, -0.019 ], "tube_target_position": [ -0.38894511928468256, -0.040706520173773554, 0.8500000000000001 ], "yaw_deg": 13.96615522034601 }, "wrong_rack_physics": { "fall_distance_m": 0.07563711131061734, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 32.29039001464844, "final_linear_speed_mps": 0.0101292310282588, "final_linear_velocity_mps": [ 0.006985649466514587, -0.007331717759370804, -0.00021894530800636858 ], "final_position_m": [ -0.3484790623188019, -0.13868187367916107, 0.8085994124412537 ], "final_protected_visual_minimum_z_m": 0.7902501833924165, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 90.00022872904103, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.34020960330963135, "first_impact_position_m": [ -0.39830121397972107, -0.054057419300079346, 0.8576657176017761 ], "first_impact_time_s": 13.4, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8085985779762268, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": -133.59512924641461, "planned_release_lateral_offset_m": 0.015996457231655586, "planned_release_tilt_deg": 34.30843637118829, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.03423568928684406, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7007209082011833, "release_position_m": [ -0.387851632895061, -0.038603029485448345, 0.8842356892868442 ], "release_time_s": 13.297284608292147, "support_clearance_m": 0.0002501833924164476, "support_surface_z_m": 0.79, "target_body": "wrong_rack", "tube_root_below_rack_top": true, "valid": true, "visual_surface_nonpenetration_valid": true, "wrong_rack_id": "TR-003" } }