| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8795146106753896, |
| 0.5338344405246602, |
| 0.1599644854531151 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5005183907770949, |
| 0.635812551924855, |
| 0.5902928264784715 |
| ], |
| "floor_color_rgb": [ |
| 0.21264984529122075, |
| 0.26043851988367217, |
| 0.2518088928404205 |
| ], |
| "screen_color_rgb": [ |
| 0.339247542587502, |
| 0.6963741371672736, |
| 0.6794208900990292 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.6784790710402755, |
| 0.788105940642846, |
| 0.7680862692358422 |
| ] |
| }, |
| "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": [ |
| 0.5247881679579658, |
| -0.1842016446107973, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0359109169020324, |
| "yaw_deg": 124.62804173750078 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": 88.51416349005275, |
| "position": [ |
| -0.7284268777905969, |
| 1.2756599927053067, |
| 0.8510586400480429 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8938539151323016, |
| "yaw_deg": -117.91796645780485 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.37723603033056025, |
| -0.052864729170220004, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.847031886244776, |
| "yaw_deg": 80.22637799232047 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6421958322527047, |
| 0.036053070814371646, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.037464642428005, |
| "yaw_deg": 121.47050044363328 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.2741775327338891, |
| 1.1500624999562463, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0147176596786749, |
| "yaw_deg": -92.47959079193107 |
| }, |
| { |
| "asset_id": "RES-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.7250782170480712, |
| 1.106792363194861, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9001766029853477, |
| "yaw_deg": -42.616978505754304 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.8424283667945989, |
| 1.042669282768898, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9167563371683158, |
| "yaw_deg": 93.5266626452792 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.10856078719182427, |
| 0.22173503907081832, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1674941019058678, |
| "yaw_deg": -127.17636207797962 |
| } |
| ], |
| "duration_s": 14.725804111863702, |
| "episode_id": 0, |
| "error_type": "cap_open", |
| "frame_count": 442, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.9229104990714262, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2201.1943560359246, |
| "liquid": { |
| "color_rgb": [ |
| 0.06675866291041486, |
| 0.2617250706447964, |
| 0.35596702387436147 |
| ], |
| "fill_fraction": 0.4201529787443928, |
| "opacity": 0.9006594291833079, |
| "vortex_level_rise_fraction": 0.2129460173627798 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 2.265084006457064, |
| "direction_azimuth_deg": 153.86880474485787, |
| "lateral_speed_mps": 0.025022431521060665, |
| "phase": "lower_to_rack", |
| "phase_fraction": 0.8013113006860006, |
| "release_clearance_m": 0.009833611748817639, |
| "release_tilt_deg": 111.74957168586434, |
| "stage": "insertion", |
| "tip_duration_s": 0.37429159887882785, |
| "trigger_time_s": 13.28941313931362, |
| "tube_detach_fraction": 0.5773672631222263, |
| "tube_engagement_fraction": 0.36115761262469015, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.08892232288702598 |
| }, |
| "rack_id": "TR-002", |
| "rack_position": [ |
| 0.33444371308245036, |
| 0.23847946795669067, |
| 0.79 |
| ], |
| "rack_yaw_deg": 42.40580842909746, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-002", |
| "source_tube_has_cap": true, |
| "tube_cap_present": false, |
| "tube_id": "CT-005", |
| "vortex_id": "VTX-002" |
| }, |
| "distractors": { |
| "count": 8, |
| "placements": [ |
| { |
| "asset_id": "RES-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5247881679579658, |
| -0.1842016446107973, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0359109169020324, |
| "yaw_deg": 124.62804173750078 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": 88.51416349005275, |
| "position": [ |
| -0.7284268777905969, |
| 1.2756599927053067, |
| 0.8510586400480429 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8938539151323016, |
| "yaw_deg": -117.91796645780485 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.37723603033056025, |
| -0.052864729170220004, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.847031886244776, |
| "yaw_deg": 80.22637799232047 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6421958322527047, |
| 0.036053070814371646, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.037464642428005, |
| "yaw_deg": 121.47050044363328 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.2741775327338891, |
| 1.1500624999562463, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0147176596786749, |
| "yaw_deg": -92.47959079193107 |
| }, |
| { |
| "asset_id": "RES-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.7250782170480712, |
| 1.106792363194861, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9001766029853477, |
| "yaw_deg": -42.616978505754304 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.8424283667945989, |
| 1.042669282768898, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9167563371683158, |
| "yaw_deg": 93.5266626452792 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.10856078719182427, |
| 0.22173503907081832, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1674941019058678, |
| "yaw_deg": -127.17636207797962 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8795146106753896, |
| 0.5338344405246602, |
| 0.1599644854531151 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5005183907770949, |
| 0.635812551924855, |
| 0.5902928264784715 |
| ], |
| "floor_color_rgb": [ |
| 0.21264984529122075, |
| 0.26043851988367217, |
| 0.2518088928404205 |
| ], |
| "screen_color_rgb": [ |
| 0.339247542587502, |
| 0.6963741371672736, |
| 0.6794208900990292 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.6784790710402755, |
| 0.788105940642846, |
| 0.7680862692358422 |
| ] |
| }, |
| "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": [ |
| 0.9229104990714262, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2201.1943560359246, |
| "table_color_rgb": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| 0.33444371308245036, |
| 0.23847946795669067, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -101.67553510426781, |
| "rack_to_vortex_distance_m": 0.48232751037600236, |
| "rack_yaw_deg": 42.40580842909746, |
| "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": [ |
| 0.3824776967165866, |
| 0.23630313704537947, |
| 0.8152000000000001 |
| ], |
| "tube_start_position_m": [ |
| 0.3824776967165866, |
| 0.23630313704537947, |
| 0.8152000000000001 |
| ], |
| "vortex_contact_position_m": [ |
| 0.2448638533650595, |
| -0.20656184187644888, |
| 0.9790000000000001 |
| ], |
| "vortex_position_m": [ |
| 0.23683550207768517, |
| -0.23386835347362134, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -35.455336017443344 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.06675866291041486, |
| 0.2617250706447964, |
| 0.35596702387436147 |
| ], |
| "effective_peak_level_fraction": 0.6330989961071726, |
| "effective_vortex_level_rise_fraction": 0.2129460173627798, |
| "fill_fraction": 0.4201529787443928, |
| "opacity": 0.9006594291833079, |
| "present": true, |
| "vortex_level_rise_fraction": 0.2129460173627798 |
| }, |
| "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": 23260909, |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": 0.0031576213232929456, |
| "depart_pattern": "lean", |
| "depart_sway_m": 0.004194210772556295, |
| "handling_noise_amplitude_m": 0.0017782057212495247, |
| "handling_noise_frequency_hz": 0.8668489824024191, |
| "handling_noise_phase_xyz_rad": [ |
| 1.6996044665511036, |
| 1.7734902334529614, |
| 1.0965243037089734 |
| ], |
| "lift_height_m": 0.09877341717823356, |
| "orientation_noise_deg": 0.7265087406926876, |
| "outbound_curve_bias": -0.1819615606689421, |
| "outbound_pattern": "wide_detour", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 13.568321929035209, |
| 14.725804111863702 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.7748815222331038 |
| ], |
| "lift_from_rack": [ |
| 0.7748815222331038, |
| 1.987915313855306 |
| ], |
| "lower_to_rack": [ |
| 12.164574304310904, |
| 13.568321929035209 |
| ], |
| "lower_to_vortex": [ |
| 3.8056299610364155, |
| 4.664399926034484 |
| ], |
| "raise_from_vortex": [ |
| 7.7715386670007005, |
| 8.895285902140778 |
| ], |
| "transfer_to_rack": [ |
| 8.895285902140778, |
| 12.164574304310904 |
| ], |
| "transfer_to_vortex": [ |
| 1.987915313855306, |
| 3.8056299610364155 |
| ], |
| "vortex": [ |
| 4.664399926034484, |
| 7.7715386670007005 |
| ] |
| }, |
| "pick_line_azimuth_deg": 105.67483200442143, |
| "pick_line_tilt_deg": 6.4674651051175935, |
| "pick_pattern": "straight", |
| "pick_sway_m": -0.0076649067474581015, |
| "put_pattern": "straight", |
| "put_sway_m": 0.009034131795254242, |
| "rack_put_height_m": 0.3905928695122669, |
| "return_bend_scale": 0.780772324222881, |
| "return_curve_bias": 0.3946665539818832, |
| "return_pattern": "direct", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.516993159374866, |
| "transfer_bend_m": 0.1745785221204695, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 12.653521112045402, |
| "vertical_arc_m": 0.2956946362953476, |
| "vortex_apparent_frequency_hz": 10.111065252079058, |
| "vortex_approach_height_m": 0.08637363389566814, |
| "vortex_depart_height_m": 0.2511131233440358, |
| "vortex_frequency_hz": 19.888934747920942, |
| "vortex_phase_rad": 3.012933244592171, |
| "vortex_radius_m": 0.000444089612046648, |
| "vortex_tilt_deg": 0.4406587697818056 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.034, |
| -0.034 |
| ], |
| "scene_id": "cap_open/scene_000000", |
| "schema_version": 15, |
| "seed": 23260909, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "2644c4d64adc9c7dd4cd068b274996fa28051326941d1e9dcbdd9f3f3e3bb886", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| 0.034, |
| -0.034 |
| ], |
| "subtype_event": { |
| "category": "cap_open", |
| "event_phase": "whole_episode", |
| "is_failure": true, |
| "randomized_parameters": { |
| "cap_removed_before_first_frame": true |
| }, |
| "realized_outcome": { |
| "cap_absent_for_entire_episode": true, |
| "source_tube_has_cap": true, |
| "tube_cap_present": false |
| }, |
| "time_window_s": [ |
| 0.0, |
| 14.725804111863702 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": 0.0031576213232929456, |
| "depart_pattern": "lean", |
| "depart_sway_m": 0.004194210772556295, |
| "handling_noise_amplitude_m": 0.0017782057212495247, |
| "handling_noise_frequency_hz": 0.8668489824024191, |
| "handling_noise_phase_xyz_rad": [ |
| 1.6996044665511036, |
| 1.7734902334529614, |
| 1.0965243037089734 |
| ], |
| "lift_height_m": 0.09877341717823356, |
| "orientation_noise_deg": 0.7265087406926876, |
| "outbound_curve_bias": -0.1819615606689421, |
| "outbound_pattern": "wide_detour", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 13.568321929035209, |
| 14.725804111863702 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.7748815222331038 |
| ], |
| "lift_from_rack": [ |
| 0.7748815222331038, |
| 1.987915313855306 |
| ], |
| "lower_to_rack": [ |
| 12.164574304310904, |
| 13.568321929035209 |
| ], |
| "lower_to_vortex": [ |
| 3.8056299610364155, |
| 4.664399926034484 |
| ], |
| "raise_from_vortex": [ |
| 7.7715386670007005, |
| 8.895285902140778 |
| ], |
| "transfer_to_rack": [ |
| 8.895285902140778, |
| 12.164574304310904 |
| ], |
| "transfer_to_vortex": [ |
| 1.987915313855306, |
| 3.8056299610364155 |
| ], |
| "vortex": [ |
| 4.664399926034484, |
| 7.7715386670007005 |
| ] |
| }, |
| "pick_line_azimuth_deg": 105.67483200442143, |
| "pick_line_tilt_deg": 6.4674651051175935, |
| "pick_pattern": "straight", |
| "pick_sway_m": -0.0076649067474581015, |
| "put_pattern": "straight", |
| "put_sway_m": 0.009034131795254242, |
| "rack_put_height_m": 0.3905928695122669, |
| "return_bend_scale": 0.780772324222881, |
| "return_curve_bias": 0.3946665539818832, |
| "return_pattern": "direct", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.516993159374866, |
| "transfer_bend_m": 0.1745785221204695, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 12.653521112045402, |
| "vertical_arc_m": 0.2956946362953476, |
| "vortex_apparent_frequency_hz": 10.111065252079058, |
| "vortex_approach_height_m": 0.08637363389566814, |
| "vortex_depart_height_m": 0.2511131233440358, |
| "vortex_frequency_hz": 19.888934747920942, |
| "vortex_phase_rad": 3.012933244592171, |
| "vortex_radius_m": 0.000444089612046648, |
| "vortex_tilt_deg": 0.4406587697818056 |
| }, |
| "trajectory_validation": { |
| "duration_s": 14.725804111863702, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 4.050792900924367e-16, |
| "max_quaternion_norm_error": 1.1102230246251565e-16, |
| "max_sample_step_m": 0.0033202168094975623, |
| "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": false, |
| "tube_drop": { |
| "phase": "transfer_to_vortex", |
| "phase_fraction": 0.4455216268116422, |
| "release_time_s": 2.797746500546784, |
| "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": [ |
| 0.3824776967165866, |
| 0.23630313704537947, |
| 0.8152000000000001 |
| ], |
| "tube_start_position": [ |
| 0.3824776967165866, |
| 0.23630313704537947, |
| 0.8152000000000001 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "10c35f038d671d9337168e4dd30179ecdc6ce2d4d2e4a3fa0b71e673f466399b", |
| "video_validation": { |
| "actual_frame_count": 442, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 442, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 442, |
| "max_changed_pixel_fraction": 0.008203559027777777, |
| "mean_luminance": 132.84234619140625, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 74, |
| 147, |
| 220, |
| 294, |
| 368, |
| 441 |
| ], |
| "spatial_standard_deviation": 35.52586364746094, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| 0.2448638533650595, |
| -0.20656184187644888, |
| 0.9790000000000001 |
| ], |
| "vortex_id": "VTX-002", |
| "vortex_position": [ |
| 0.23683550207768517, |
| -0.23386835347362134, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -35.455336017443344, |
| "wrong_orientation": { |
| "azimuth_deg": -152.5594288807624, |
| "mode": "tilted", |
| "tilt_deg_from_z": 43.14675477679552 |
| }, |
| "wrong_rack": { |
| "hole_relation": "too_small", |
| "insertion_depth_m": 0.0, |
| "insertion_succeeds": false, |
| "placement_outcome": "physx_drop_pending", |
| "position": [ |
| 0.6699197332614072, |
| 0.010620885823515613, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -139.98394888394176, |
| "release_lateral_offset_m": 0.017994773745998734, |
| "release_phase_fraction": 0.6481897968820916, |
| "release_tilt_deg": 33.49349629092047, |
| "release_time_s": 13.07446919205467, |
| "slot_offset_xy": [ |
| 0.02, |
| 0.019 |
| ], |
| "tube_target_position": [ |
| 0.6953532971824282, |
| 0.021304229226932835, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -20.74640648711162 |
| } |
| } |
|
|
