| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.835981956497267, |
| 0.5402540118706933, |
| 0.18274212458971956 |
| ], |
| "cabinet_color_rgb": [ |
| 0.49737893582272913, |
| 0.6518130096912486, |
| 0.6228483610001098 |
| ], |
| "floor_color_rgb": [ |
| 0.1985381140030463, |
| 0.301237408232041, |
| 0.28595038595816835 |
| ], |
| "screen_color_rgb": [ |
| 0.33607032481254484, |
| 0.7261965190862526, |
| 0.6385195801022013 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.721884882934362, |
| 0.8160656184220253, |
| 0.7573937010929549 |
| ] |
| }, |
| "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-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.050332455057460534, |
| 1.203255507825375, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0195730645091394, |
| "yaw_deg": 96.75954801960648 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5333092511429558, |
| -0.234961585637637, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1013586595136016, |
| "yaw_deg": 12.101779799789313 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 89.29478479177827, |
| "position": [ |
| 0.25565169193321957, |
| 0.1153422697009201, |
| 0.8101142210398724 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9038811539111703, |
| "yaw_deg": -38.88398101132938 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.22163388971816195, |
| -0.30814239452854575, |
| 0.7999050359586448 |
| ], |
| "roll_deg": -91.24458247493426, |
| "surface": "main_table", |
| "uniform_scale": 1.1400043586236137, |
| "yaw_deg": 44.03948996292846 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.17201002199104432, |
| 0.3711648369970468, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9111178415424879, |
| "yaw_deg": -0.7553973379924628 |
| }, |
| { |
| "asset_id": "TIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.08128922654360315, |
| -0.4256783256083853, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.138831091857623, |
| "yaw_deg": 24.38114186545269 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.7546925935542417, |
| 1.1328336472099005, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8817243337061443, |
| "yaw_deg": -134.3326142833994 |
| } |
| ], |
| "duration_s": 17.041295811215026, |
| "episode_id": 6, |
| "error_type": "wrong_orientation", |
| "frame_count": 511, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.9347154412255307, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2716.1364627285548, |
| "liquid": { |
| "color_rgb": [ |
| 0.05863119189566854, |
| 0.20787714392208734, |
| 0.3837385583586367 |
| ], |
| "fill_fraction": 0.42899140279652226, |
| "opacity": 0.8879448566510315, |
| "vortex_level_rise_fraction": 0.21904069918210226 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.8352674135770224, |
| "direction_azimuth_deg": 97.50830497621331, |
| "lateral_speed_mps": 0.07648085915452654, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.271250428013305, |
| "release_clearance_m": 0.009180495027115388, |
| "release_tilt_deg": 131.087038877273, |
| "stage": "pickup", |
| "tip_duration_s": 0.30319728817164765, |
| "trigger_time_s": 1.616673551258061, |
| "tube_detach_fraction": 0.5196890387472399, |
| "tube_engagement_fraction": 0.3678685952864255, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.08904509309825005 |
| }, |
| "rack_id": "TR-002", |
| "rack_position": [ |
| 0.6001013986419339, |
| 0.18252533871872934, |
| 0.79 |
| ], |
| "rack_yaw_deg": 44.95890078790802, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-002", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-009", |
| "vortex_id": "VTX-005" |
| }, |
| "distractors": { |
| "count": 7, |
| "placements": [ |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.050332455057460534, |
| 1.203255507825375, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0195730645091394, |
| "yaw_deg": 96.75954801960648 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5333092511429558, |
| -0.234961585637637, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1013586595136016, |
| "yaw_deg": 12.101779799789313 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 89.29478479177827, |
| "position": [ |
| 0.25565169193321957, |
| 0.1153422697009201, |
| 0.8101142210398724 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9038811539111703, |
| "yaw_deg": -38.88398101132938 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.22163388971816195, |
| -0.30814239452854575, |
| 0.7999050359586448 |
| ], |
| "roll_deg": -91.24458247493426, |
| "surface": "main_table", |
| "uniform_scale": 1.1400043586236137, |
| "yaw_deg": 44.03948996292846 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.17201002199104432, |
| 0.3711648369970468, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9111178415424879, |
| "yaw_deg": -0.7553973379924628 |
| }, |
| { |
| "asset_id": "TIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.08128922654360315, |
| -0.4256783256083853, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.138831091857623, |
| "yaw_deg": 24.38114186545269 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.7546925935542417, |
| 1.1328336472099005, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8817243337061443, |
| "yaw_deg": -134.3326142833994 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.835981956497267, |
| 0.5402540118706933, |
| 0.18274212458971956 |
| ], |
| "cabinet_color_rgb": [ |
| 0.49737893582272913, |
| 0.6518130096912486, |
| 0.6228483610001098 |
| ], |
| "floor_color_rgb": [ |
| 0.1985381140030463, |
| 0.301237408232041, |
| 0.28595038595816835 |
| ], |
| "screen_color_rgb": [ |
| 0.33607032481254484, |
| 0.7261965190862526, |
| 0.6385195801022013 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.721884882934362, |
| 0.8160656184220253, |
| 0.7573937010929549 |
| ] |
| }, |
| "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": [ |
| 0.9347154412255307, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2716.1364627285548, |
| "table_color_rgb": [ |
| 0.16, |
| 0.42, |
| 0.46 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| 0.6001013986419339, |
| 0.18252533871872934, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -169.59371525967444, |
| "rack_to_vortex_distance_m": 1.071912631291929, |
| "rack_yaw_deg": 44.95890078790802, |
| "return_slot_offset_xy_m": [ |
| 0.034, |
| 0.068 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| -0.034, |
| 0.0 |
| ], |
| "tube_return_position_m": [ |
| 0.5761115106423643, |
| 0.25466745730259205, |
| 0.8152000000000001 |
| ], |
| "tube_start_position_m": [ |
| 0.5760425288083028, |
| 0.15850095980212897, |
| 0.8152000000000001 |
| ], |
| "vortex_contact_position_m": [ |
| -0.451176868209451, |
| 0.027575217788669004, |
| 0.9580000000000001 |
| ], |
| "vortex_position_m": [ |
| -0.4541800533752218, |
| -0.011091057941741006, |
| 0.79 |
| ], |
| "vortex_yaw_deg": 4.608219886691444 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.05863119189566854, |
| 0.20787714392208734, |
| 0.3837385583586367 |
| ], |
| "effective_peak_level_fraction": 0.6480321019786245, |
| "effective_vortex_level_rise_fraction": 0.21904069918210226, |
| "fill_fraction": 0.42899140279652226, |
| "opacity": 0.8879448566510315, |
| "present": true, |
| "vortex_level_rise_fraction": 0.21904069918210226 |
| }, |
| "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": 25320910, |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": 0.004784026593302014, |
| "depart_pattern": "s_sway", |
| "depart_sway_m": 0.011415628419766411, |
| "handling_noise_amplitude_m": 0.0036147807963332603, |
| "handling_noise_frequency_hz": 1.7335833564491865, |
| "handling_noise_phase_xyz_rad": [ |
| 3.6473989391571138, |
| 0.31050411754696516, |
| 0.6904056100010961 |
| ], |
| "lift_height_m": 0.1729623367012253, |
| "orientation_noise_deg": 3.056566146420695, |
| "outbound_curve_bias": 0.5652287142252246, |
| "outbound_pattern": "wide_detour", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 16.28133241212742, |
| 17.041295811215026 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.2697395795664657 |
| ], |
| "lift_from_rack": [ |
| 1.2697395795664657, |
| 2.5487568118437105 |
| ], |
| "lower_to_rack": [ |
| 14.7452783328615, |
| 16.28133241212742 |
| ], |
| "lower_to_vortex": [ |
| 5.608644201406129, |
| 6.880492933808413 |
| ], |
| "raise_from_vortex": [ |
| 9.938728352138568, |
| 11.21945490230731 |
| ], |
| "transfer_to_rack": [ |
| 11.21945490230731, |
| 14.7452783328615 |
| ], |
| "transfer_to_vortex": [ |
| 2.5487568118437105, |
| 5.608644201406129 |
| ], |
| "vortex": [ |
| 6.880492933808413, |
| 9.938728352138568 |
| ] |
| }, |
| "pick_line_azimuth_deg": -90.47716792703093, |
| "pick_line_tilt_deg": 6.727997417578191, |
| "pick_pattern": "straight", |
| "pick_sway_m": -0.006529324398342222, |
| "put_pattern": "spiral", |
| "put_sway_m": -0.003532307898610053, |
| "rack_put_height_m": 0.31876306918275243, |
| "return_bend_scale": 1.3540215689597566, |
| "return_curve_bias": 0.31396514106760187, |
| "return_pattern": "direct", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 0.5474647544447153, |
| "transfer_bend_m": 0.11825014575540344, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 5.720001601364816, |
| "vertical_arc_m": 0.05659106574747082, |
| "vortex_apparent_frequency_hz": 3.559007585123993, |
| "vortex_approach_height_m": 0.16144328161999683, |
| "vortex_depart_height_m": 0.1495829167623438, |
| "vortex_frequency_hz": 33.55900758512399, |
| "vortex_phase_rad": 5.201564751725126, |
| "vortex_radius_m": 0.0005204037221807276, |
| "vortex_tilt_deg": 0.5773054869261954 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.034, |
| 0.068 |
| ], |
| "scene_id": "wrong_orientation/scene_000006", |
| "schema_version": 15, |
| "seed": 25320910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "85689c9fb1ad91fff3c540a32da0caa7951bcc52119a23b529b529be2a19d8c9", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| -0.034, |
| 0.0 |
| ], |
| "subtype_event": { |
| "category": "wrong_orientation", |
| "event_phase": "vortex", |
| "is_failure": true, |
| "randomized_parameters": { |
| "azimuth_deg": -161.74960133819494, |
| "mode": "tilted", |
| "tilt_deg_from_z": 40.15387420947961 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": -161.74960133819494, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "tilted", |
| "tilt_deg_from_z": 40.15387420947961, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 6.880492933808413, |
| 9.938728352138568 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.16, |
| 0.42, |
| 0.46 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": 0.004784026593302014, |
| "depart_pattern": "s_sway", |
| "depart_sway_m": 0.011415628419766411, |
| "handling_noise_amplitude_m": 0.0036147807963332603, |
| "handling_noise_frequency_hz": 1.7335833564491865, |
| "handling_noise_phase_xyz_rad": [ |
| 3.6473989391571138, |
| 0.31050411754696516, |
| 0.6904056100010961 |
| ], |
| "lift_height_m": 0.1729623367012253, |
| "orientation_noise_deg": 3.056566146420695, |
| "outbound_curve_bias": 0.5652287142252246, |
| "outbound_pattern": "wide_detour", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 16.28133241212742, |
| 17.041295811215026 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.2697395795664657 |
| ], |
| "lift_from_rack": [ |
| 1.2697395795664657, |
| 2.5487568118437105 |
| ], |
| "lower_to_rack": [ |
| 14.7452783328615, |
| 16.28133241212742 |
| ], |
| "lower_to_vortex": [ |
| 5.608644201406129, |
| 6.880492933808413 |
| ], |
| "raise_from_vortex": [ |
| 9.938728352138568, |
| 11.21945490230731 |
| ], |
| "transfer_to_rack": [ |
| 11.21945490230731, |
| 14.7452783328615 |
| ], |
| "transfer_to_vortex": [ |
| 2.5487568118437105, |
| 5.608644201406129 |
| ], |
| "vortex": [ |
| 6.880492933808413, |
| 9.938728352138568 |
| ] |
| }, |
| "pick_line_azimuth_deg": -90.47716792703093, |
| "pick_line_tilt_deg": 6.727997417578191, |
| "pick_pattern": "straight", |
| "pick_sway_m": -0.006529324398342222, |
| "put_pattern": "spiral", |
| "put_sway_m": -0.003532307898610053, |
| "rack_put_height_m": 0.31876306918275243, |
| "return_bend_scale": 1.3540215689597566, |
| "return_curve_bias": 0.31396514106760187, |
| "return_pattern": "direct", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 0.5474647544447153, |
| "transfer_bend_m": 0.11825014575540344, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 5.720001601364816, |
| "vertical_arc_m": 0.05659106574747082, |
| "vortex_apparent_frequency_hz": 3.559007585123993, |
| "vortex_approach_height_m": 0.16144328161999683, |
| "vortex_depart_height_m": 0.1495829167623438, |
| "vortex_frequency_hz": 33.55900758512399, |
| "vortex_phase_rad": 5.201564751725126, |
| "vortex_radius_m": 0.0005204037221807276, |
| "vortex_tilt_deg": 0.5773054869261954 |
| }, |
| "trajectory_validation": { |
| "duration_s": 17.041295811215026, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 1.067079158905441e-15, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.0028223090719353364, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 0.0, |
| "wrong_orientation_max_tilt_deg": 40.729037266867735, |
| "wrong_orientation_min_tilt_deg": 39.57657306534679, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "transfer_to_vortex", |
| "phase_fraction": 0.5911161114018348, |
| "release_time_s": 4.357505546889358, |
| "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": [ |
| 0.5761115106423643, |
| 0.25466745730259205, |
| 0.8152000000000001 |
| ], |
| "tube_start_position": [ |
| 0.5760425288083028, |
| 0.15850095980212897, |
| 0.8152000000000001 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "b7bbee9083a07cf1a2490c32ad89ef9ced4fec176e11d9ae1e03f8b98307ce02", |
| "video_validation": { |
| "actual_frame_count": 511, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 511, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 511, |
| "max_changed_pixel_fraction": 0.011202256944444445, |
| "mean_luminance": 141.00978088378906, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 85, |
| 170, |
| 255, |
| 340, |
| 425, |
| 510 |
| ], |
| "spatial_standard_deviation": 35.36665344238281, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| -0.451176868209451, |
| 0.027575217788669004, |
| 0.9580000000000001 |
| ], |
| "vortex_id": "VTX-005", |
| "vortex_position": [ |
| -0.4541800533752218, |
| -0.011091057941741006, |
| 0.79 |
| ], |
| "vortex_yaw_deg": 4.608219886691444, |
| "wrong_orientation": { |
| "azimuth_deg": -161.74960133819494, |
| "mode": "tilted", |
| "tilt_deg_from_z": 40.15387420947961 |
| }, |
| "wrong_rack": { |
| "hole_relation": "too_small", |
| "insertion_depth_m": 0.0, |
| "insertion_succeeds": false, |
| "placement_outcome": "physx_drop_pending", |
| "position": [ |
| -0.6668339800172457, |
| 0.32402146089383976, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": 90.95431152816025, |
| "release_lateral_offset_m": 0.017141744584612685, |
| "release_phase_fraction": 0.7531493262002291, |
| "release_tilt_deg": 37.1470025292357, |
| "release_time_s": 15.902156427667741, |
| "slot_offset_xy": [ |
| 0.04, |
| -0.019 |
| ], |
| "tube_target_position": [ |
| -0.6590324588498347, |
| 0.2804309083913257, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -54.445328186850446 |
| } |
| } |
|
|
