| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8737455555792726, |
| 0.7508486888418592, |
| 0.20771809990587248 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6405545241937847, |
| 0.647279021923839, |
| 0.7261013018848312 |
| ], |
| "floor_color_rgb": [ |
| 0.2393322067447095, |
| 0.3222535287541775, |
| 0.31520296487542826 |
| ], |
| "screen_color_rgb": [ |
| 0.2968432549648575, |
| 0.7317466685826304, |
| 0.8086981231378464 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.7154626026427311, |
| 0.7969044930567687, |
| 0.7681206124910342 |
| ] |
| }, |
| "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": [ |
| 0.23485286755368429, |
| 0.3789246703216537, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9786840955580756, |
| "yaw_deg": -118.80151173518627 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.17723463756394675, |
| 1.265392563625426, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0903460835956535, |
| "yaw_deg": 165.85204242867923 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5589636029092069, |
| -0.0077269263412818034, |
| 0.7983059410004933 |
| ], |
| "roll_deg": 91.59854205841388, |
| "surface": "main_table", |
| "uniform_scale": 0.8577957143399244, |
| "yaw_deg": 117.54945845078714 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.3540574044936434, |
| 1.1462500183781599, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8194070486868328, |
| "yaw_deg": 133.37322302241301 |
| }, |
| { |
| "asset_id": "PIP-018", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.7254283355234158, |
| 1.1186515214842783, |
| 0.8592746377759503 |
| ], |
| "roll_deg": -88.35803285800117, |
| "surface": "rear_bench", |
| "uniform_scale": 1.1240092881230597, |
| "yaw_deg": 115.83861351308951 |
| } |
| ], |
| "duration_s": 14.682224633067538, |
| "episode_id": 3, |
| "error_type": "vortex_off", |
| "frame_count": 440, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9427968604684538 |
| ], |
| "light_intensity": 2190.525490697739, |
| "liquid": { |
| "color_rgb": [ |
| 0.03725952213383853, |
| 0.2883911014387133, |
| 0.22820003800224575 |
| ], |
| "fill_fraction": 0.4164396037967568, |
| "opacity": 0.8610963703143061, |
| "vortex_level_rise_fraction": 0.19534475524615375 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 2.1938271575947597, |
| "direction_azimuth_deg": 121.84129800088152, |
| "lateral_speed_mps": 0.08204479466128764, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.31765317329169385, |
| "release_clearance_m": 0.008139871753604401, |
| "release_tilt_deg": 140.41062975810397, |
| "stage": "pickup", |
| "tip_duration_s": 0.3592668271495671, |
| "trigger_time_s": 1.2539577405011233, |
| "tube_detach_fraction": 0.5506639927620331, |
| "tube_engagement_fraction": 0.6854030866268088, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.048467661354901485 |
| }, |
| "rack_id": "TR-004", |
| "rack_position": [ |
| 0.3632887537460292, |
| 0.13309489662696067, |
| 0.79 |
| ], |
| "rack_yaw_deg": 50.770024065431, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-004", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-009", |
| "vortex_id": "VTX-001" |
| }, |
| "distractors": { |
| "count": 5, |
| "placements": [ |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.23485286755368429, |
| 0.3789246703216537, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9786840955580756, |
| "yaw_deg": -118.80151173518627 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.17723463756394675, |
| 1.265392563625426, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0903460835956535, |
| "yaw_deg": 165.85204242867923 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5589636029092069, |
| -0.0077269263412818034, |
| 0.7983059410004933 |
| ], |
| "roll_deg": 91.59854205841388, |
| "surface": "main_table", |
| "uniform_scale": 0.8577957143399244, |
| "yaw_deg": 117.54945845078714 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.3540574044936434, |
| 1.1462500183781599, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8194070486868328, |
| "yaw_deg": 133.37322302241301 |
| }, |
| { |
| "asset_id": "PIP-018", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.7254283355234158, |
| 1.1186515214842783, |
| 0.8592746377759503 |
| ], |
| "roll_deg": -88.35803285800117, |
| "surface": "rear_bench", |
| "uniform_scale": 1.1240092881230597, |
| "yaw_deg": 115.83861351308951 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8737455555792726, |
| 0.7508486888418592, |
| 0.20771809990587248 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6405545241937847, |
| 0.647279021923839, |
| 0.7261013018848312 |
| ], |
| "floor_color_rgb": [ |
| 0.2393322067447095, |
| 0.3222535287541775, |
| 0.31520296487542826 |
| ], |
| "screen_color_rgb": [ |
| 0.2968432549648575, |
| 0.7317466685826304, |
| 0.8086981231378464 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.7154626026427311, |
| 0.7969044930567687, |
| 0.7681206124910342 |
| ] |
| }, |
| "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, |
| 0.9427968604684538 |
| ], |
| "light_intensity": 2190.525490697739, |
| "table_color_rgb": [ |
| 0.5, |
| 0.46, |
| 0.38 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| 0.3632887537460292, |
| 0.13309489662696067, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -173.4154185435047, |
| "rack_to_vortex_distance_m": 0.6920787841734248, |
| "rack_yaw_deg": 50.770024065431, |
| "return_slot_offset_xy_m": [ |
| -0.025, |
| 0.0 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| 0.075, |
| 0.0 |
| ], |
| "tube_return_position_m": [ |
| 0.34747788748001507, |
| 0.11372955366799875, |
| 0.8529 |
| ], |
| "tube_start_position_m": [ |
| 0.4107213525440716, |
| 0.19119092550384642, |
| 0.8529 |
| ], |
| "vortex_contact_position_m": [ |
| -0.30613599797282154, |
| 0.10715487936985844, |
| 1.0070000000000001 |
| ], |
| "vortex_position_m": [ |
| -0.3242248432654411, |
| 0.05373434328138704, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -18.70672751980294 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.03725952213383853, |
| 0.2883911014387133, |
| 0.22820003800224575 |
| ], |
| "effective_peak_level_fraction": 0.4164396037967568, |
| "effective_vortex_level_rise_fraction": 0.0, |
| "fill_fraction": 0.4164396037967568, |
| "opacity": 0.8610963703143061, |
| "present": true, |
| "vortex_level_rise_fraction": 0.19534475524615375 |
| }, |
| "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": 21290910, |
| "trajectory": { |
| "approach_pattern": "straight", |
| "approach_sway_m": -0.006988041962502346, |
| "depart_pattern": "spiral", |
| "depart_sway_m": -0.002982728475260291, |
| "handling_noise_amplitude_m": 0.010349624219295514, |
| "handling_noise_frequency_hz": 1.7086041359881619, |
| "handling_noise_phase_xyz_rad": [ |
| 4.682217379115815, |
| 1.9073811223327368, |
| 6.271919886905098 |
| ], |
| "lift_height_m": 0.09074639916768173, |
| "orientation_noise_deg": 1.56825135099723, |
| "outbound_curve_bias": -0.16094638432047448, |
| "outbound_pattern": "zigzag", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 13.387287077080574, |
| 14.682224633067538 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8743770965590475 |
| ], |
| "lift_from_rack": [ |
| 0.8743770965590475, |
| 2.069330195905281 |
| ], |
| "lower_to_rack": [ |
| 12.317596908335801, |
| 13.387287077080574 |
| ], |
| "lower_to_vortex": [ |
| 4.9461405502806794, |
| 5.696105566880581 |
| ], |
| "raise_from_vortex": [ |
| 9.367992822462355, |
| 10.233744238890951 |
| ], |
| "transfer_to_rack": [ |
| 10.233744238890951, |
| 12.317596908335801 |
| ], |
| "transfer_to_vortex": [ |
| 2.069330195905281, |
| 4.9461405502806794 |
| ], |
| "vortex": [ |
| 5.696105566880581, |
| 9.367992822462355 |
| ] |
| }, |
| "pick_line_azimuth_deg": -16.330700442838804, |
| "pick_line_tilt_deg": 2.247433456908608, |
| "pick_pattern": "hook", |
| "pick_sway_m": 0.007641983931990454, |
| "put_pattern": "straight", |
| "put_sway_m": -0.006340510957497333, |
| "rack_put_height_m": 0.33888004147247625, |
| "return_bend_scale": 0.7005830136094199, |
| "return_curve_bias": -0.44824247323175664, |
| "return_pattern": "high_arc", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 0.7652551310432708, |
| "transfer_bend_m": 0.09768394859891306, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 8.536895870636867, |
| "vertical_arc_m": 0.10664572277312448, |
| "vortex_apparent_frequency_hz": 9.953768567144941, |
| "vortex_approach_height_m": 0.22956268244221956, |
| "vortex_depart_height_m": 0.19563805061500006, |
| "vortex_frequency_hz": 20.04623143285506, |
| "vortex_phase_rad": 4.403558838437408, |
| "vortex_radius_m": 0.00033624161622472374, |
| "vortex_tilt_deg": 0.8804551083346032 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| -0.025, |
| 0.0 |
| ], |
| "scene_id": "vortex_off/scene_000003", |
| "schema_version": 15, |
| "seed": 21290910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "4abf0edd5cb1b7ec6db90a8aac59257b51ce2f7047d815fbde3fc00119b1d4d0", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| 0.075, |
| 0.0 |
| ], |
| "subtype_event": { |
| "category": "vortex_off", |
| "event_phase": "vortex", |
| "is_failure": true, |
| "randomized_parameters": { |
| "commanded_liquid_level_rise_fraction": 0.0, |
| "commanded_vortex_radius_m": 0.0, |
| "commanded_vortex_tilt_deg": 0.0 |
| }, |
| "realized_outcome": { |
| "liquid_level_rise_enabled": false, |
| "tube_stationary_on_vortex": true, |
| "vortex_motion_enabled": false |
| }, |
| "time_window_s": [ |
| 5.696105566880581, |
| 9.367992822462355 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.5, |
| 0.46, |
| 0.38 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "straight", |
| "approach_sway_m": -0.006988041962502346, |
| "depart_pattern": "spiral", |
| "depart_sway_m": -0.002982728475260291, |
| "handling_noise_amplitude_m": 0.010349624219295514, |
| "handling_noise_frequency_hz": 1.7086041359881619, |
| "handling_noise_phase_xyz_rad": [ |
| 4.682217379115815, |
| 1.9073811223327368, |
| 6.271919886905098 |
| ], |
| "lift_height_m": 0.09074639916768173, |
| "orientation_noise_deg": 1.56825135099723, |
| "outbound_curve_bias": -0.16094638432047448, |
| "outbound_pattern": "zigzag", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 13.387287077080574, |
| 14.682224633067538 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8743770965590475 |
| ], |
| "lift_from_rack": [ |
| 0.8743770965590475, |
| 2.069330195905281 |
| ], |
| "lower_to_rack": [ |
| 12.317596908335801, |
| 13.387287077080574 |
| ], |
| "lower_to_vortex": [ |
| 4.9461405502806794, |
| 5.696105566880581 |
| ], |
| "raise_from_vortex": [ |
| 9.367992822462355, |
| 10.233744238890951 |
| ], |
| "transfer_to_rack": [ |
| 10.233744238890951, |
| 12.317596908335801 |
| ], |
| "transfer_to_vortex": [ |
| 2.069330195905281, |
| 4.9461405502806794 |
| ], |
| "vortex": [ |
| 5.696105566880581, |
| 9.367992822462355 |
| ] |
| }, |
| "pick_line_azimuth_deg": -16.330700442838804, |
| "pick_line_tilt_deg": 2.247433456908608, |
| "pick_pattern": "hook", |
| "pick_sway_m": 0.007641983931990454, |
| "put_pattern": "straight", |
| "put_sway_m": -0.006340510957497333, |
| "rack_put_height_m": 0.33888004147247625, |
| "return_bend_scale": 0.7005830136094199, |
| "return_curve_bias": -0.44824247323175664, |
| "return_pattern": "high_arc", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 0.7652551310432708, |
| "transfer_bend_m": 0.09768394859891306, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 8.536895870636867, |
| "vertical_arc_m": 0.10664572277312448, |
| "vortex_apparent_frequency_hz": 9.953768567144941, |
| "vortex_approach_height_m": 0.22956268244221956, |
| "vortex_depart_height_m": 0.19563805061500006, |
| "vortex_frequency_hz": 20.04623143285506, |
| "vortex_phase_rad": 4.403558838437408, |
| "vortex_radius_m": 0.00033624161622472374, |
| "vortex_tilt_deg": 0.8804551083346032 |
| }, |
| "trajectory_validation": { |
| "duration_s": 14.682224633067538, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 1.2332505329747885e-15, |
| "max_quaternion_norm_error": 1.1102230246251565e-16, |
| "max_sample_step_m": 0.002945085806509901, |
| "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": "transfer_to_vortex", |
| "phase_fraction": 0.6199999999999999, |
| "release_time_s": 3.852952615618028, |
| "target_surface": "table", |
| "vortex_release_azimuth_deg": 0.0, |
| "vortex_release_offset_m": 0.0, |
| "vortex_release_tilt_deg": 0.0 |
| }, |
| "tube_id": "CT-009", |
| "tube_return_position": [ |
| 0.34747788748001507, |
| 0.11372955366799875, |
| 0.8529 |
| ], |
| "tube_start_position": [ |
| 0.4107213525440716, |
| 0.19119092550384642, |
| 0.8529 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "66b6d9328eb26234d85d13185217feb40d0a718c611abf4fa627b2380594ba2c", |
| "video_validation": { |
| "actual_frame_count": 440, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 440, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 440, |
| "max_changed_pixel_fraction": 0.006725260416666667, |
| "mean_luminance": 151.57839965820312, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 73, |
| 146, |
| 220, |
| 293, |
| 366, |
| 439 |
| ], |
| "spatial_standard_deviation": 35.606834411621094, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| -0.30613599797282154, |
| 0.10715487936985844, |
| 1.0070000000000001 |
| ], |
| "vortex_id": "VTX-001", |
| "vortex_position": [ |
| -0.3242248432654411, |
| 0.05373434328138704, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -18.70672751980294, |
| "wrong_orientation": { |
| "azimuth_deg": -122.9487822423918, |
| "mode": "tilted", |
| "tilt_deg_from_z": 52.45950027815391 |
| }, |
| "wrong_rack": { |
| "hole_relation": "too_small", |
| "insertion_depth_m": 0.0, |
| "insertion_succeeds": false, |
| "placement_outcome": "physx_drop_pending", |
| "position": [ |
| -0.5569944690937939, |
| -0.3765487797396235, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -5.545483611881053, |
| "release_lateral_offset_m": 0.02256780718950261, |
| "release_phase_fraction": 0.6905709719132864, |
| "release_tilt_deg": 33.76087652663114, |
| "release_time_s": 13.056293887811966, |
| "slot_offset_xy": [ |
| -0.04, |
| 0.019 |
| ], |
| "tube_target_position": [ |
| -0.5967550737861468, |
| -0.35705277208424835, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -0.7126018924460027 |
| } |
| } |
|
|
