| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.838906565764812, |
| 0.5365557205861509, |
| 0.145210839392302 |
| ], |
| "cabinet_color_rgb": [ |
| 0.49309480326762767, |
| 0.6316569960194715, |
| 0.5822490938235252 |
| ], |
| "floor_color_rgb": [ |
| 0.20475798351236982, |
| 0.34238866991500366, |
| 0.28440822026420975 |
| ], |
| "screen_color_rgb": [ |
| 0.33182321802730713, |
| 0.7328224860443641, |
| 0.6587805399805255 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.7193461886822644, |
| 0.7977269028955655, |
| 0.7234705579088875 |
| ] |
| }, |
| "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-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.22831919866747008, |
| 1.2341083663457537, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.1387306279754745, |
| "yaw_deg": 128.01365628553077 |
| }, |
| { |
| "asset_id": "RES-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3137706384936817, |
| -0.36611318624913575, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8001853850752474, |
| "yaw_deg": -51.74678143052523 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.833403986243477, |
| 1.0578299051544937, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.171671759811087, |
| "yaw_deg": 150.41253331051024 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.2073059650018415, |
| 0.2841897023034465, |
| 0.8037523594634064 |
| ], |
| "roll_deg": 86.91872370971222, |
| "surface": "main_table", |
| "uniform_scale": 0.7841632818583613, |
| "yaw_deg": 62.875334378259765 |
| }, |
| { |
| "asset_id": "TIP-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.22476498998768324, |
| 0.08366433363539044, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1748336166922637, |
| "yaw_deg": 8.898432552739393 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.643740090828313, |
| -0.14584689728107558, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8157514657817901, |
| "yaw_deg": 115.1105549788021 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.03137487429079555, |
| 0.276986485849873, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0384966013368822, |
| "yaw_deg": 24.39960932278089 |
| } |
| ], |
| "duration_s": 15.676134036813842, |
| "episode_id": 48, |
| "error_type": "vortex_off", |
| "frame_count": 470, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9913442610824174 |
| ], |
| "light_intensity": 1667.6788070496245, |
| "liquid": { |
| "color_rgb": [ |
| 0.0740149516711101, |
| 0.2575736722552085, |
| 0.34609255180963605 |
| ], |
| "fill_fraction": 0.4391485811222379, |
| "opacity": 0.872928695705088, |
| "vortex_level_rise_fraction": 0.2026993885245185 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 2.0532489328605044, |
| "direction_azimuth_deg": 117.46950015599373, |
| "lateral_speed_mps": 0.08487549069962794, |
| "phase": "lower_to_rack", |
| "phase_fraction": 0.7785533500357484, |
| "release_clearance_m": 0.006290373333472189, |
| "release_tilt_deg": 110.63911085123944, |
| "stage": "insertion", |
| "tip_duration_s": 0.4715670876402707, |
| "trigger_time_s": 14.75765219348374, |
| "tube_detach_fraction": 0.5755078142320431, |
| "tube_engagement_fraction": 0.553170032873971, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.07673832415056048 |
| }, |
| "rack_id": "TR-002", |
| "rack_position": [ |
| 0.02224044511358869, |
| -0.12091506428134488, |
| 0.79 |
| ], |
| "rack_yaw_deg": -37.957870654904966, |
| "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": 7, |
| "placements": [ |
| { |
| "asset_id": "TR-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.22831919866747008, |
| 1.2341083663457537, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.1387306279754745, |
| "yaw_deg": 128.01365628553077 |
| }, |
| { |
| "asset_id": "RES-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3137706384936817, |
| -0.36611318624913575, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8001853850752474, |
| "yaw_deg": -51.74678143052523 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.833403986243477, |
| 1.0578299051544937, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.171671759811087, |
| "yaw_deg": 150.41253331051024 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.2073059650018415, |
| 0.2841897023034465, |
| 0.8037523594634064 |
| ], |
| "roll_deg": 86.91872370971222, |
| "surface": "main_table", |
| "uniform_scale": 0.7841632818583613, |
| "yaw_deg": 62.875334378259765 |
| }, |
| { |
| "asset_id": "TIP-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.22476498998768324, |
| 0.08366433363539044, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1748336166922637, |
| "yaw_deg": 8.898432552739393 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.643740090828313, |
| -0.14584689728107558, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8157514657817901, |
| "yaw_deg": 115.1105549788021 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.03137487429079555, |
| 0.276986485849873, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0384966013368822, |
| "yaw_deg": 24.39960932278089 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.838906565764812, |
| 0.5365557205861509, |
| 0.145210839392302 |
| ], |
| "cabinet_color_rgb": [ |
| 0.49309480326762767, |
| 0.6316569960194715, |
| 0.5822490938235252 |
| ], |
| "floor_color_rgb": [ |
| 0.20475798351236982, |
| 0.34238866991500366, |
| 0.28440822026420975 |
| ], |
| "screen_color_rgb": [ |
| 0.33182321802730713, |
| 0.7328224860443641, |
| 0.6587805399805255 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.7193461886822644, |
| 0.7977269028955655, |
| 0.7234705579088875 |
| ] |
| }, |
| "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, |
| 0.9913442610824174 |
| ], |
| "light_intensity": 1667.6788070496245, |
| "table_color_rgb": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| 0.02224044511358869, |
| -0.12091506428134488, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": 154.42375447787606, |
| "rack_to_vortex_distance_m": 0.5787682047583039, |
| "rack_yaw_deg": -37.957870654904966, |
| "return_slot_offset_xy_m": [ |
| 0.0, |
| 0.0 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| 0.034, |
| -0.068 |
| ], |
| "tube_return_position_m": [ |
| 0.02224044511358869, |
| -0.12091506428134488, |
| 0.8152000000000001 |
| ], |
| "tube_start_position_m": [ |
| 0.007222626682421011, |
| -0.1954433483724769, |
| 0.8152000000000001 |
| ], |
| "vortex_contact_position_m": [ |
| -0.4824947892662181, |
| 0.1846140787990661, |
| 1.0265 |
| ], |
| "vortex_position_m": [ |
| -0.4998151829158519, |
| 0.1289460092814178, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -17.086294223947966 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.0740149516711101, |
| 0.2575736722552085, |
| 0.34609255180963605 |
| ], |
| "effective_peak_level_fraction": 0.4391485811222379, |
| "effective_vortex_level_rise_fraction": 0.0, |
| "fill_fraction": 0.4391485811222379, |
| "opacity": 0.872928695705088, |
| "present": true, |
| "vortex_level_rise_fraction": 0.2026993885245185 |
| }, |
| "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": 21740909, |
| "trajectory": { |
| "approach_pattern": "hook", |
| "approach_sway_m": -0.00728074322534858, |
| "depart_pattern": "lean", |
| "depart_sway_m": -0.007994468637953767, |
| "handling_noise_amplitude_m": 0.015190751690742094, |
| "handling_noise_frequency_hz": 0.8658411874095349, |
| "handling_noise_phase_xyz_rad": [ |
| 1.2831007415518767, |
| 4.514063281912899, |
| 3.8965512268629015 |
| ], |
| "lift_height_m": 0.13850479373620017, |
| "orientation_noise_deg": 1.0822848107662921, |
| "outbound_curve_bias": 0.0990417838928831, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 14.921448435151218, |
| 15.676134036813842 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.9840909323100988 |
| ], |
| "lift_from_rack": [ |
| 0.9840909323100988, |
| 2.5678357777584573 |
| ], |
| "lower_to_rack": [ |
| 14.181783862695866, |
| 14.921448435151218 |
| ], |
| "lower_to_vortex": [ |
| 5.4829168693968455, |
| 6.500869109190256 |
| ], |
| "raise_from_vortex": [ |
| 10.505614496676174, |
| 11.571425292731039 |
| ], |
| "transfer_to_rack": [ |
| 11.571425292731039, |
| 14.181783862695866 |
| ], |
| "transfer_to_vortex": [ |
| 2.5678357777584573, |
| 5.4829168693968455 |
| ], |
| "vortex": [ |
| 6.500869109190256, |
| 10.505614496676174 |
| ] |
| }, |
| "pick_line_azimuth_deg": 109.74783631531557, |
| "pick_line_tilt_deg": 9.787117142267977, |
| "pick_pattern": "hook", |
| "pick_sway_m": 0.008525929174576006, |
| "put_pattern": "lean", |
| "put_sway_m": 0.0046005333025999195, |
| "rack_put_height_m": 0.2053636988584842, |
| "return_bend_scale": 1.1319695257971305, |
| "return_curve_bias": 0.3485194035709769, |
| "return_pattern": "double_s", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 0.4519914440313208, |
| "transfer_bend_m": 0.2424010995783606, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 4.933640792412521, |
| "vertical_arc_m": 0.12049154587219285, |
| "vortex_apparent_frequency_hz": 3.85207899844859, |
| "vortex_approach_height_m": 0.26615907235882097, |
| "vortex_depart_height_m": 0.13510764968112726, |
| "vortex_frequency_hz": 33.85207899844859, |
| "vortex_phase_rad": 3.3825058990969175, |
| "vortex_radius_m": 0.0004619007252837496, |
| "vortex_tilt_deg": 0.7011294108055968 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.0, |
| 0.0 |
| ], |
| "scene_id": "vortex_off/scene_000048", |
| "schema_version": 15, |
| "seed": 21740909, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "75fdc9dd2db673ff0e79d9652a23286153afaa9dfe7d24ded4fa3b5af962a4af", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| 0.034, |
| -0.068 |
| ], |
| "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": [ |
| 6.500869109190256, |
| 10.505614496676174 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "hook", |
| "approach_sway_m": -0.00728074322534858, |
| "depart_pattern": "lean", |
| "depart_sway_m": -0.007994468637953767, |
| "handling_noise_amplitude_m": 0.015190751690742094, |
| "handling_noise_frequency_hz": 0.8658411874095349, |
| "handling_noise_phase_xyz_rad": [ |
| 1.2831007415518767, |
| 4.514063281912899, |
| 3.8965512268629015 |
| ], |
| "lift_height_m": 0.13850479373620017, |
| "orientation_noise_deg": 1.0822848107662921, |
| "outbound_curve_bias": 0.0990417838928831, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 14.921448435151218, |
| 15.676134036813842 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.9840909323100988 |
| ], |
| "lift_from_rack": [ |
| 0.9840909323100988, |
| 2.5678357777584573 |
| ], |
| "lower_to_rack": [ |
| 14.181783862695866, |
| 14.921448435151218 |
| ], |
| "lower_to_vortex": [ |
| 5.4829168693968455, |
| 6.500869109190256 |
| ], |
| "raise_from_vortex": [ |
| 10.505614496676174, |
| 11.571425292731039 |
| ], |
| "transfer_to_rack": [ |
| 11.571425292731039, |
| 14.181783862695866 |
| ], |
| "transfer_to_vortex": [ |
| 2.5678357777584573, |
| 5.4829168693968455 |
| ], |
| "vortex": [ |
| 6.500869109190256, |
| 10.505614496676174 |
| ] |
| }, |
| "pick_line_azimuth_deg": 109.74783631531557, |
| "pick_line_tilt_deg": 9.787117142267977, |
| "pick_pattern": "hook", |
| "pick_sway_m": 0.008525929174576006, |
| "put_pattern": "lean", |
| "put_sway_m": 0.0046005333025999195, |
| "rack_put_height_m": 0.2053636988584842, |
| "return_bend_scale": 1.1319695257971305, |
| "return_curve_bias": 0.3485194035709769, |
| "return_pattern": "double_s", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 0.4519914440313208, |
| "transfer_bend_m": 0.2424010995783606, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 4.933640792412521, |
| "vertical_arc_m": 0.12049154587219285, |
| "vortex_apparent_frequency_hz": 3.85207899844859, |
| "vortex_approach_height_m": 0.26615907235882097, |
| "vortex_depart_height_m": 0.13510764968112726, |
| "vortex_frequency_hz": 33.85207899844859, |
| "vortex_phase_rad": 3.3825058990969175, |
| "vortex_radius_m": 0.0004619007252837496, |
| "vortex_tilt_deg": 0.7011294108055968 |
| }, |
| "trajectory_validation": { |
| "duration_s": 15.676134036813842, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 2.0162472384637203e-15, |
| "max_quaternion_norm_error": 1.1102230246251565e-16, |
| "max_sample_step_m": 0.004871967831072808, |
| "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": 0.31057654023509074, |
| "release_time_s": 3.4731915777042395, |
| "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": [ |
| 0.02224044511358869, |
| -0.12091506428134488, |
| 0.8152000000000001 |
| ], |
| "tube_start_position": [ |
| 0.007222626682421011, |
| -0.1954433483724769, |
| 0.8152000000000001 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "c50f964860739a652dbe98b002e9264104e4b24bded15024ec2bbff843e57520", |
| "video_validation": { |
| "actual_frame_count": 470, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 470, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 470, |
| "max_changed_pixel_fraction": 0.011521701388888889, |
| "mean_luminance": 131.74916076660156, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 78, |
| 156, |
| 234, |
| 313, |
| 391, |
| 469 |
| ], |
| "spatial_standard_deviation": 33.67055130004883, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| -0.4824947892662181, |
| 0.1846140787990661, |
| 1.0265 |
| ], |
| "vortex_id": "VTX-003", |
| "vortex_position": [ |
| -0.4998151829158519, |
| 0.1289460092814178, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -17.086294223947966, |
| "wrong_orientation": { |
| "azimuth_deg": -80.75933585625442, |
| "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": [ |
| 0.40324657762002014, |
| 0.31938170384651754, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -8.832372712641131, |
| "release_lateral_offset_m": 0.02126693541712537, |
| "release_phase_fraction": 0.6864896036020675, |
| "release_tilt_deg": 35.92495748228433, |
| "release_time_s": 14.689555901839233, |
| "slot_offset_xy": [ |
| -0.04, |
| -0.019 |
| ], |
| "tube_target_position": [ |
| 0.37741925773078655, |
| 0.2834101936288578, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": 28.91417075063181 |
| } |
| } |
|
|
