| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.22547315757390438, |
| 0.5165893980757342, |
| 0.6654014105963032 |
| ], |
| "cabinet_color_rgb": [ |
| 0.7150143251580157, |
| 0.7287025097555597, |
| 0.8067716291331859 |
| ], |
| "floor_color_rgb": [ |
| 0.2908475989590519, |
| 0.39339465889102426, |
| 0.43047965967436486 |
| ], |
| "screen_color_rgb": [ |
| 0.5299614015763808, |
| 0.7713430763392232, |
| 0.8867853751282728 |
| ], |
| "style": "clean_room", |
| "wall_color_rgb": [ |
| 0.7437596070686666, |
| 0.8458021846880864, |
| 0.9106464043507168 |
| ] |
| }, |
| "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": "TIP-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5605080078513052, |
| 0.17430230528463736, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.116399902804566, |
| "yaw_deg": -94.36621407445007 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5454841962017718, |
| 0.10449450068906713, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.034078923946822, |
| "yaw_deg": 99.14664460048994 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.22564554084087207, |
| 0.24543886416984523, |
| 0.7988551691886027 |
| ], |
| "roll_deg": 87.50334541089421, |
| "surface": "main_table", |
| "uniform_scale": 0.9181504602859993, |
| "yaw_deg": -41.4095587065851 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.10240589665083133, |
| 1.1835760391972732, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8241075227133116, |
| "yaw_deg": 160.78776689925866 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.228883865055027, |
| 1.3612392549456116, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9170946340623837, |
| "yaw_deg": 3.0149671527381656 |
| }, |
| { |
| "asset_id": "RES-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.09636065916037562, |
| 0.03215432171586413, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0808637078500891, |
| "yaw_deg": 24.145395407701557 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6251281315713848, |
| -0.20913800575236044, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8186563659681378, |
| "yaw_deg": 142.85791662453767 |
| } |
| ], |
| "duration_s": 13.067497096636583, |
| "episode_id": 7, |
| "error_type": "wrong_orientation", |
| "frame_count": 392, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.9663399873180123, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2238.6677975714465, |
| "liquid": { |
| "color_rgb": [ |
| 0.04231200285163499, |
| 0.23079246893300057, |
| 0.3898525800005676 |
| ], |
| "fill_fraction": 0.5514146726336372, |
| "opacity": 0.8783124771394595, |
| "vortex_level_rise_fraction": 0.22227130365820313 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.5775681387179612, |
| "direction_azimuth_deg": -23.695391473831194, |
| "lateral_speed_mps": 0.03784257895707446, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.2666292972863413, |
| "release_clearance_m": 0.00618100735884745, |
| "release_tilt_deg": 136.90637810255802, |
| "stage": "pickup", |
| "tip_duration_s": 0.4105811674055477, |
| "trigger_time_s": 1.0797269032261854, |
| "tube_detach_fraction": 0.5283621002200072, |
| "tube_engagement_fraction": 0.6177020812897771, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.03933722821626509 |
| }, |
| "rack_id": "TR-004", |
| "rack_position": [ |
| -0.41864843934877094, |
| -0.1524933648454597, |
| 0.79 |
| ], |
| "rack_yaw_deg": 15.36200591191681, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-004", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-009", |
| "vortex_id": "VTX-003" |
| }, |
| "distractors": { |
| "count": 7, |
| "placements": [ |
| { |
| "asset_id": "TIP-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5605080078513052, |
| 0.17430230528463736, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.116399902804566, |
| "yaw_deg": -94.36621407445007 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5454841962017718, |
| 0.10449450068906713, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.034078923946822, |
| "yaw_deg": 99.14664460048994 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.22564554084087207, |
| 0.24543886416984523, |
| 0.7988551691886027 |
| ], |
| "roll_deg": 87.50334541089421, |
| "surface": "main_table", |
| "uniform_scale": 0.9181504602859993, |
| "yaw_deg": -41.4095587065851 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.10240589665083133, |
| 1.1835760391972732, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8241075227133116, |
| "yaw_deg": 160.78776689925866 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.228883865055027, |
| 1.3612392549456116, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9170946340623837, |
| "yaw_deg": 3.0149671527381656 |
| }, |
| { |
| "asset_id": "RES-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.09636065916037562, |
| 0.03215432171586413, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0808637078500891, |
| "yaw_deg": 24.145395407701557 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6251281315713848, |
| -0.20913800575236044, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8186563659681378, |
| "yaw_deg": 142.85791662453767 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.22547315757390438, |
| 0.5165893980757342, |
| 0.6654014105963032 |
| ], |
| "cabinet_color_rgb": [ |
| 0.7150143251580157, |
| 0.7287025097555597, |
| 0.8067716291331859 |
| ], |
| "floor_color_rgb": [ |
| 0.2908475989590519, |
| 0.39339465889102426, |
| 0.43047965967436486 |
| ], |
| "screen_color_rgb": [ |
| 0.5299614015763808, |
| 0.7713430763392232, |
| 0.8867853751282728 |
| ], |
| "style": "clean_room", |
| "wall_color_rgb": [ |
| 0.7437596070686666, |
| 0.8458021846880864, |
| 0.9106464043507168 |
| ] |
| }, |
| "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": [ |
| 0.9663399873180123, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2238.6677975714465, |
| "table_color_rgb": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| -0.41864843934877094, |
| -0.1524933648454597, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": 3.3821567244861277, |
| "rack_to_vortex_distance_m": 0.5422333174149363, |
| "rack_yaw_deg": 15.36200591191681, |
| "return_slot_offset_xy_m": [ |
| 0.075, |
| 0.0 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| -0.025, |
| 0.0 |
| ], |
| "tube_return_position_m": [ |
| -0.346328092723565, |
| -0.13262460887005775, |
| 0.8529 |
| ], |
| "tube_start_position_m": [ |
| -0.4427552215571729, |
| -0.159116283503927, |
| 0.8529 |
| ], |
| "vortex_contact_position_m": [ |
| 0.169765613236059, |
| -0.0861798770398301, |
| 1.0265 |
| ], |
| "vortex_position_m": [ |
| 0.12264044261023188, |
| -0.12050404190201837, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -53.73528837906295 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.04231200285163499, |
| 0.23079246893300057, |
| 0.3898525800005676 |
| ], |
| "effective_peak_level_fraction": 0.7736859762918403, |
| "effective_vortex_level_rise_fraction": 0.22227130365820313, |
| "fill_fraction": 0.5514146726336372, |
| "opacity": 0.8783124771394595, |
| "present": true, |
| "vortex_level_rise_fraction": 0.22227130365820313 |
| }, |
| "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": 25330909, |
| "trajectory": { |
| "approach_pattern": "straight", |
| "approach_sway_m": -0.010741397338342522, |
| "depart_pattern": "spiral", |
| "depart_sway_m": 0.005204201325912233, |
| "handling_noise_amplitude_m": 0.005637889175140822, |
| "handling_noise_frequency_hz": 2.7277219003513755, |
| "handling_noise_phase_xyz_rad": [ |
| 5.454960176921394, |
| 1.3769644433632717, |
| 0.6430284081393116 |
| ], |
| "lift_height_m": 0.16945583047776658, |
| "orientation_noise_deg": 5.813284180863179, |
| "outbound_curve_bias": -0.037715911906146427, |
| "outbound_pattern": "double_s", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 12.235503563363947, |
| 13.067497096636583 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8251206248472255 |
| ], |
| "lift_from_rack": [ |
| 0.8251206248472255, |
| 1.780027984879497 |
| ], |
| "lower_to_rack": [ |
| 10.729257727343784, |
| 12.235503563363947 |
| ], |
| "lower_to_vortex": [ |
| 3.7119096896237735, |
| 4.371512932013844 |
| ], |
| "raise_from_vortex": [ |
| 8.05934973313672, |
| 8.828577579607408 |
| ], |
| "transfer_to_rack": [ |
| 8.828577579607408, |
| 10.729257727343784 |
| ], |
| "transfer_to_vortex": [ |
| 1.780027984879497, |
| 3.7119096896237735 |
| ], |
| "vortex": [ |
| 4.371512932013844, |
| 8.05934973313672 |
| ] |
| }, |
| "pick_line_azimuth_deg": 32.733836688709886, |
| "pick_line_tilt_deg": 3.6416666111640073, |
| "pick_pattern": "hook", |
| "pick_sway_m": 0.005067578190151086, |
| "put_pattern": "lean", |
| "put_sway_m": 0.008980133295158538, |
| "rack_put_height_m": 0.09014897750596854, |
| "return_bend_scale": 1.2868707463947682, |
| "return_curve_bias": 0.33694403258446926, |
| "return_pattern": "double_s", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 0.937647391159275, |
| "transfer_bend_m": 0.1845505788290973, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 1.8428640904307447, |
| "vertical_arc_m": 0.33112817153971846, |
| "vortex_apparent_frequency_hz": 10.232616178022841, |
| "vortex_approach_height_m": 0.214094908480236, |
| "vortex_depart_height_m": 0.26579065394347673, |
| "vortex_frequency_hz": 19.76738382197716, |
| "vortex_phase_rad": 0.5551709805069652, |
| "vortex_radius_m": 0.0007361102053640584, |
| "vortex_tilt_deg": 0.6896745248825558 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.075, |
| 0.0 |
| ], |
| "scene_id": "wrong_orientation/scene_000007", |
| "schema_version": 15, |
| "seed": 25330909, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "636fe08abd90a927e2cd9add02a458dc0b60fc0049f02d07820bbc846c8d033b", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| -0.025, |
| 0.0 |
| ], |
| "subtype_event": { |
| "category": "wrong_orientation", |
| "event_phase": "vortex", |
| "is_failure": true, |
| "randomized_parameters": { |
| "azimuth_deg": -163.1581868545182, |
| "mode": "upside_down", |
| "tilt_deg_from_z": 180.0 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": -163.1581868545182, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "upside_down", |
| "tilt_deg_from_z": 180.0, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 4.371512932013844, |
| 8.05934973313672 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "straight", |
| "approach_sway_m": -0.010741397338342522, |
| "depart_pattern": "spiral", |
| "depart_sway_m": 0.005204201325912233, |
| "handling_noise_amplitude_m": 0.005637889175140822, |
| "handling_noise_frequency_hz": 2.7277219003513755, |
| "handling_noise_phase_xyz_rad": [ |
| 5.454960176921394, |
| 1.3769644433632717, |
| 0.6430284081393116 |
| ], |
| "lift_height_m": 0.16945583047776658, |
| "orientation_noise_deg": 5.813284180863179, |
| "outbound_curve_bias": -0.037715911906146427, |
| "outbound_pattern": "double_s", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 12.235503563363947, |
| 13.067497096636583 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8251206248472255 |
| ], |
| "lift_from_rack": [ |
| 0.8251206248472255, |
| 1.780027984879497 |
| ], |
| "lower_to_rack": [ |
| 10.729257727343784, |
| 12.235503563363947 |
| ], |
| "lower_to_vortex": [ |
| 3.7119096896237735, |
| 4.371512932013844 |
| ], |
| "raise_from_vortex": [ |
| 8.05934973313672, |
| 8.828577579607408 |
| ], |
| "transfer_to_rack": [ |
| 8.828577579607408, |
| 10.729257727343784 |
| ], |
| "transfer_to_vortex": [ |
| 1.780027984879497, |
| 3.7119096896237735 |
| ], |
| "vortex": [ |
| 4.371512932013844, |
| 8.05934973313672 |
| ] |
| }, |
| "pick_line_azimuth_deg": 32.733836688709886, |
| "pick_line_tilt_deg": 3.6416666111640073, |
| "pick_pattern": "hook", |
| "pick_sway_m": 0.005067578190151086, |
| "put_pattern": "lean", |
| "put_sway_m": 0.008980133295158538, |
| "rack_put_height_m": 0.09014897750596854, |
| "return_bend_scale": 1.2868707463947682, |
| "return_curve_bias": 0.33694403258446926, |
| "return_pattern": "double_s", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 0.937647391159275, |
| "transfer_bend_m": 0.1845505788290973, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 1.8428640904307447, |
| "vertical_arc_m": 0.33112817153971846, |
| "vortex_apparent_frequency_hz": 10.232616178022841, |
| "vortex_approach_height_m": 0.214094908480236, |
| "vortex_depart_height_m": 0.26579065394347673, |
| "vortex_frequency_hz": 19.76738382197716, |
| "vortex_phase_rad": 0.5551709805069652, |
| "vortex_radius_m": 0.0007361102053640584, |
| "vortex_tilt_deg": 0.6896745248825558 |
| }, |
| "trajectory_validation": { |
| "duration_s": 13.067497096636583, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 1.217454592664719e-15, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.006395077058710159, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 2.220446049250313e-16, |
| "wrong_orientation_max_tilt_deg": 180.0, |
| "wrong_orientation_min_tilt_deg": 179.3103254751516, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "vortex", |
| "phase_fraction": 0.6881516555674108, |
| "release_time_s": 6.909303932168975, |
| "target_surface": "vortex", |
| "vortex_release_azimuth_deg": 20.938626397490935, |
| "vortex_release_offset_m": 0.032625183100274804, |
| "vortex_release_tilt_deg": 0.0 |
| }, |
| "tube_id": "CT-009", |
| "tube_return_position": [ |
| -0.346328092723565, |
| -0.13262460887005775, |
| 0.8529 |
| ], |
| "tube_start_position": [ |
| -0.4427552215571729, |
| -0.159116283503927, |
| 0.8529 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "4a183b1254d9c0bb92c5bbb6cf778622b2c4c2dd165a3cbff1af3a27a4d6e568", |
| "video_validation": { |
| "actual_frame_count": 392, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 392, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 392, |
| "max_changed_pixel_fraction": 0.0083828125, |
| "mean_luminance": 149.463134765625, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 65, |
| 130, |
| 196, |
| 261, |
| 326, |
| 391 |
| ], |
| "spatial_standard_deviation": 34.01448440551758, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| 0.169765613236059, |
| -0.0861798770398301, |
| 1.0265 |
| ], |
| "vortex_id": "VTX-003", |
| "vortex_position": [ |
| 0.12264044261023188, |
| -0.12050404190201837, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -53.73528837906295, |
| "wrong_orientation": { |
| "azimuth_deg": -163.1581868545182, |
| "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": [ |
| -0.2886136433377373, |
| -0.378978091852559, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": 10.069452484219909, |
| "release_lateral_offset_m": 0.018733340224516212, |
| "release_phase_fraction": 0.7540767849984655, |
| "release_tilt_deg": 24.140230334658604, |
| "release_time_s": 11.865082744787195, |
| "slot_offset_xy": [ |
| -0.04, |
| -0.019 |
| ], |
| "tube_target_position": [ |
| -0.28271639902901186, |
| -0.42286684336776165, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": 72.24516458378727 |
| } |
| } |
|
|
