| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.23825644390053097, |
| 0.5058050100089257, |
| 0.7211924510065351 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6844653861560048, |
| 0.8008236174970765, |
| 0.7377290995566754 |
| ], |
| "floor_color_rgb": [ |
| 0.31887799540089284, |
| 0.341397510831235, |
| 0.4016563301590921 |
| ], |
| "screen_color_rgb": [ |
| 0.528186747341979, |
| 0.7943086578727148, |
| 0.8894956894099013 |
| ], |
| "style": "clean_room", |
| "wall_color_rgb": [ |
| 0.7419871485369912, |
| 0.8066314496380683, |
| 0.8657242185941919 |
| ] |
| }, |
| "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": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.06750426264869136, |
| 0.24006028324192663, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9668152241752245, |
| "yaw_deg": 126.48875549569573 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.012157590219290193, |
| -0.1226280243726316, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1360883652274145, |
| "yaw_deg": -19.602064608506993 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3008189022982688, |
| -0.3291976198701756, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9674387538339803, |
| "yaw_deg": 151.9863609676912 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.4350161274436712, |
| -0.11834552412664989, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8267058276021362, |
| "yaw_deg": 115.16551740594838 |
| } |
| ], |
| "duration_s": 16.17820178014153, |
| "episode_id": 11, |
| "error_type": "wrong_orientation", |
| "frame_count": 485, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9713068192759114 |
| ], |
| "light_intensity": 1708.4092804496577, |
| "liquid": { |
| "color_rgb": [ |
| 0.07707538477827074, |
| 0.26661694773436256, |
| 0.35524672175231037 |
| ], |
| "fill_fraction": 0.43561371046553843, |
| "opacity": 0.8513794861507863, |
| "vortex_level_rise_fraction": 0.18444906235971784 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.943362453697795, |
| "direction_azimuth_deg": 168.7921173205013, |
| "lateral_speed_mps": 0.039260608012920674, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.3961317589416442, |
| "release_clearance_m": 0.008596948322978717, |
| "release_tilt_deg": 110.52568963156045, |
| "stage": "pickup", |
| "tip_duration_s": 0.3883267597388723, |
| "trigger_time_s": 1.290204799703183, |
| "tube_detach_fraction": 0.4855337486337808, |
| "tube_engagement_fraction": 0.5691597975753979, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.07783899926711599 |
| }, |
| "rack_id": "TR-004", |
| "rack_position": [ |
| -0.5689611927707376, |
| 0.24397338249257033, |
| 0.79 |
| ], |
| "rack_yaw_deg": 18.076487410621795, |
| "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": 4, |
| "placements": [ |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.06750426264869136, |
| 0.24006028324192663, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9668152241752245, |
| "yaw_deg": 126.48875549569573 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.012157590219290193, |
| -0.1226280243726316, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1360883652274145, |
| "yaw_deg": -19.602064608506993 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3008189022982688, |
| -0.3291976198701756, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9674387538339803, |
| "yaw_deg": 151.9863609676912 |
| }, |
| { |
| "asset_id": "TIP-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.4350161274436712, |
| -0.11834552412664989, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8267058276021362, |
| "yaw_deg": 115.16551740594838 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.23825644390053097, |
| 0.5058050100089257, |
| 0.7211924510065351 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6844653861560048, |
| 0.8008236174970765, |
| 0.7377290995566754 |
| ], |
| "floor_color_rgb": [ |
| 0.31887799540089284, |
| 0.341397510831235, |
| 0.4016563301590921 |
| ], |
| "screen_color_rgb": [ |
| 0.528186747341979, |
| 0.7943086578727148, |
| 0.8894956894099013 |
| ], |
| "style": "clean_room", |
| "wall_color_rgb": [ |
| 0.7419871485369912, |
| 0.8066314496380683, |
| 0.8657242185941919 |
| ] |
| }, |
| "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, |
| 0.9713068192759114 |
| ], |
| "light_intensity": 1708.4092804496577, |
| "table_color_rgb": [ |
| 0.5, |
| 0.46, |
| 0.38 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| -0.5689611927707376, |
| 0.24397338249257033, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -4.521323170731654, |
| "rack_to_vortex_distance_m": 0.9442521543887737, |
| "rack_yaw_deg": 18.076487410621795, |
| "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": [ |
| -0.545195114157557, |
| 0.2517305409511887, |
| 0.8529 |
| ], |
| "tube_start_position_m": [ |
| -0.6402594286102798, |
| 0.22070190711671533, |
| 0.8529 |
| ], |
| "vortex_contact_position_m": [ |
| 0.41278693591398424, |
| 0.2088573142216382, |
| 1.0070000000000001 |
| ], |
| "vortex_position_m": [ |
| 0.37235251066317654, |
| 0.1695378883021662, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -45.800971905511965 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.07707538477827074, |
| 0.26661694773436256, |
| 0.35524672175231037 |
| ], |
| "effective_peak_level_fraction": 0.6200627728252562, |
| "effective_vortex_level_rise_fraction": 0.18444906235971784, |
| "fill_fraction": 0.43561371046553843, |
| "opacity": 0.8513794861507863, |
| "present": true, |
| "vortex_level_rise_fraction": 0.18444906235971784 |
| }, |
| "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": 25370909, |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": -0.004757785748045458, |
| "depart_pattern": "straight", |
| "depart_sway_m": 0.00869526723440615, |
| "handling_noise_amplitude_m": 0.0061590242415459255, |
| "handling_noise_frequency_hz": 0.9804314308810359, |
| "handling_noise_phase_xyz_rad": [ |
| 5.241843293049405, |
| 0.21822446382393482, |
| 1.794049410915286 |
| ], |
| "lift_height_m": 0.07486183003610733, |
| "orientation_noise_deg": 2.4603267795367545, |
| "outbound_curve_bias": -0.5483054886992225, |
| "outbound_pattern": "direct", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.038027199326864, |
| 16.17820178014153 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.866144290238757 |
| ], |
| "lift_from_rack": [ |
| 0.866144290238757, |
| 1.9366479797116727 |
| ], |
| "lower_to_rack": [ |
| 13.452022439818172, |
| 15.038027199326864 |
| ], |
| "lower_to_vortex": [ |
| 4.810175052367884, |
| 6.406313991792189 |
| ], |
| "raise_from_vortex": [ |
| 9.485227568421223, |
| 10.764950874931031 |
| ], |
| "transfer_to_rack": [ |
| 10.764950874931031, |
| 13.452022439818172 |
| ], |
| "transfer_to_vortex": [ |
| 1.9366479797116727, |
| 4.810175052367884 |
| ], |
| "vortex": [ |
| 6.406313991792189, |
| 9.485227568421223 |
| ] |
| }, |
| "pick_line_azimuth_deg": -142.2410552826095, |
| "pick_line_tilt_deg": 9.789710364751809, |
| "pick_pattern": "s_sway", |
| "pick_sway_m": -0.0065430850380998285, |
| "put_pattern": "spiral", |
| "put_sway_m": 0.008501797428184752, |
| "rack_put_height_m": 0.10838279714956045, |
| "return_bend_scale": 0.7782290772155611, |
| "return_curve_bias": -0.6773680586918692, |
| "return_pattern": "direct", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.026554944292229, |
| "transfer_bend_m": 0.25210017385744277, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 5.338526929439072, |
| "vertical_arc_m": 0.05347942456217556, |
| "vortex_apparent_frequency_hz": 10.528373938887242, |
| "vortex_approach_height_m": 0.21508376789750505, |
| "vortex_depart_height_m": 0.14652625872370884, |
| "vortex_frequency_hz": 19.471626061112758, |
| "vortex_phase_rad": 2.9377053634596697, |
| "vortex_radius_m": 0.0002868107611324682, |
| "vortex_tilt_deg": 0.18851882446670618 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.025, |
| 0.0 |
| ], |
| "scene_id": "wrong_orientation/scene_000011", |
| "schema_version": 15, |
| "seed": 25370909, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "1344c55445a9c5a27602810b14603b47fa5d6d26cc1dcc5548b3e59f9b5a26df", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| -0.075, |
| 0.0 |
| ], |
| "subtype_event": { |
| "category": "wrong_orientation", |
| "event_phase": "vortex", |
| "is_failure": true, |
| "randomized_parameters": { |
| "azimuth_deg": 74.28227517064494, |
| "mode": "upside_down", |
| "tilt_deg_from_z": 180.0 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": 74.28227517064494, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "upside_down", |
| "tilt_deg_from_z": 180.0, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 6.406313991792189, |
| 9.485227568421223 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.5, |
| 0.46, |
| 0.38 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": -0.004757785748045458, |
| "depart_pattern": "straight", |
| "depart_sway_m": 0.00869526723440615, |
| "handling_noise_amplitude_m": 0.0061590242415459255, |
| "handling_noise_frequency_hz": 0.9804314308810359, |
| "handling_noise_phase_xyz_rad": [ |
| 5.241843293049405, |
| 0.21822446382393482, |
| 1.794049410915286 |
| ], |
| "lift_height_m": 0.07486183003610733, |
| "orientation_noise_deg": 2.4603267795367545, |
| "outbound_curve_bias": -0.5483054886992225, |
| "outbound_pattern": "direct", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.038027199326864, |
| 16.17820178014153 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.866144290238757 |
| ], |
| "lift_from_rack": [ |
| 0.866144290238757, |
| 1.9366479797116727 |
| ], |
| "lower_to_rack": [ |
| 13.452022439818172, |
| 15.038027199326864 |
| ], |
| "lower_to_vortex": [ |
| 4.810175052367884, |
| 6.406313991792189 |
| ], |
| "raise_from_vortex": [ |
| 9.485227568421223, |
| 10.764950874931031 |
| ], |
| "transfer_to_rack": [ |
| 10.764950874931031, |
| 13.452022439818172 |
| ], |
| "transfer_to_vortex": [ |
| 1.9366479797116727, |
| 4.810175052367884 |
| ], |
| "vortex": [ |
| 6.406313991792189, |
| 9.485227568421223 |
| ] |
| }, |
| "pick_line_azimuth_deg": -142.2410552826095, |
| "pick_line_tilt_deg": 9.789710364751809, |
| "pick_pattern": "s_sway", |
| "pick_sway_m": -0.0065430850380998285, |
| "put_pattern": "spiral", |
| "put_sway_m": 0.008501797428184752, |
| "rack_put_height_m": 0.10838279714956045, |
| "return_bend_scale": 0.7782290772155611, |
| "return_curve_bias": -0.6773680586918692, |
| "return_pattern": "direct", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.026554944292229, |
| "transfer_bend_m": 0.25210017385744277, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 5.338526929439072, |
| "vertical_arc_m": 0.05347942456217556, |
| "vortex_apparent_frequency_hz": 10.528373938887242, |
| "vortex_approach_height_m": 0.21508376789750505, |
| "vortex_depart_height_m": 0.14652625872370884, |
| "vortex_frequency_hz": 19.471626061112758, |
| "vortex_phase_rad": 2.9377053634596697, |
| "vortex_radius_m": 0.0002868107611324682, |
| "vortex_tilt_deg": 0.18851882446670618 |
| }, |
| "trajectory_validation": { |
| "duration_s": 16.17820178014153, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 5.661048867003676e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.00312939471425979, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 2.220446049250313e-16, |
| "wrong_orientation_max_tilt_deg": 180.0, |
| "wrong_orientation_min_tilt_deg": 179.81148117553448, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "transfer_to_vortex", |
| "phase_fraction": 0.8199999999999998, |
| "release_time_s": 4.292940179289766, |
| "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": [ |
| -0.545195114157557, |
| 0.2517305409511887, |
| 0.8529 |
| ], |
| "tube_start_position": [ |
| -0.6402594286102798, |
| 0.22070190711671533, |
| 0.8529 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "71fde36abe6d5eea037490553542243de167f7c0444f8b33bfec4d6edae19464", |
| "video_validation": { |
| "actual_frame_count": 485, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 485, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 485, |
| "max_changed_pixel_fraction": 0.007008246527777778, |
| "mean_luminance": 151.0041046142578, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 81, |
| 161, |
| 242, |
| 323, |
| 403, |
| 484 |
| ], |
| "spatial_standard_deviation": 29.424325942993164, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| 0.41278693591398424, |
| 0.2088573142216382, |
| 1.0070000000000001 |
| ], |
| "vortex_id": "VTX-001", |
| "vortex_position": [ |
| 0.37235251066317654, |
| 0.1695378883021662, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -45.800971905511965, |
| "wrong_orientation": { |
| "azimuth_deg": 74.28227517064494, |
| "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": [ |
| -0.25318634694171294, |
| 0.09178057235650472, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": 81.34546895913911, |
| "release_lateral_offset_m": 0.01536168180090819, |
| "release_phase_fraction": 0.7431985256914324, |
| "release_tilt_deg": 25.03009498271005, |
| "release_time_s": 14.630738838824627, |
| "slot_offset_xy": [ |
| -0.04, |
| 0.0 |
| ], |
| "tube_target_position": [ |
| -0.290813897385622, |
| 0.1053514031192502, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -19.83245161806932 |
| } |
| } |
|
|
