| { |
| "physical_success": true, |
| "controller": { |
| "stage": "insert_release_withdraw", |
| "stage_complete": true, |
| "task_success": true, |
| "insertion_depth_m": 0.07579230063116776, |
| "position": [ |
| -0.07978270947933197, |
| 0.4334358870983124, |
| 0.91849684715271 |
| ], |
| "pickup": { |
| "stage": "grasp_lift_pre_alignment", |
| "stage_complete": true, |
| "position": [ |
| -0.07987069338560104, |
| 0.32881850004196167, |
| 0.9232978820800781 |
| ], |
| "error_m": 0.0002978628588191364, |
| "angle_error_deg": 0.037354272740013385, |
| "corrections": [ |
| { |
| "position": [ |
| -0.07987069338560104, |
| 0.32881850004196167, |
| 0.9232978820800781 |
| ], |
| "error_m": 0.0002978628588191364, |
| "angle_error_deg": 0.037354272740013385 |
| } |
| ], |
| "task_success": false, |
| "actuation": "Robot joint targets only; no object attachment or pose writes" |
| }, |
| "actuation": "Robot joint targets only; no object attachment or pose writes" |
| }, |
| "validation": { |
| "checks": { |
| "controller_completed": true, |
| "final_hold_recorded": true, |
| "no_hand_fixture_collision": true, |
| "no_arm_table_collision": true, |
| "insertion_force_bounded": true, |
| "inserted_at_least_6cm": true, |
| "within_aperture": true, |
| "released": true, |
| "stable_without_hand": true |
| }, |
| "metrics": { |
| "duration_s": 50.55, |
| "hand_fixture_peak_n": 0.0, |
| "peg_fixture_peak_n": 1.7610557079315186, |
| "arm_table_peak_n": 0.0, |
| "min_depth_m": 0.07579230063116776, |
| "min_aperture_margin_m": -4.8993899735838564e-08, |
| "final_position_range_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "released_hand_force_n": 0.0 |
| }, |
| "all_pass": true, |
| "note": "Measured physics; fixture contact sampled at 480 Hz. 1 mm geometry tolerance for contact solver. Pickup settling accepted by user; no object pose writes during control." |
| }, |
| "control_hz": 60, |
| "physics_hz": 480.0, |
| "physical_trace_timing": "after corresponding action", |
| "observation_timing": "before corresponding action", |
| "task_physics": { |
| "hand_effort_limit_nm": 0.8, |
| "max_depenetration_velocity_m_s": 0.1, |
| "silicone_contact_stiffness": 280.0, |
| "silicone_contact_damping": 2.0 |
| }, |
| "termination_reason": "source_finished" |
| } |
|
|
