| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.864708181818816, |
| 0.7080094297881129, |
| 0.13647457860236467 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6055621769412057, |
| 0.677982854084716, |
| 0.6971107935433067 |
| ], |
| "floor_color_rgb": [ |
| 0.253429115006186, |
| 0.3447017675851733, |
| 0.35669624800616906 |
| ], |
| "screen_color_rgb": [ |
| 0.32226146350013907, |
| 0.7444173515272247, |
| 0.8002623702741594 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.7433954087703957, |
| 0.7783148750703079, |
| 0.8058737794841407 |
| ] |
| }, |
| "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": [ |
| [ |
| -0.08060564639055179, |
| 0.9880300476641746, |
| -0.13152701122845545, |
| 0.3302304146409879 |
| ], |
| [ |
| 0.7495729504859496, |
| -0.026890784750358776, |
| -0.6613752925497731, |
| 0.4846345500224525 |
| ], |
| [ |
| -0.6569955263696622, |
| -0.15189967283782668, |
| -0.7384330489096569, |
| 2.644442167237768 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "T_world_from_camera": [ |
| [ |
| -0.08060564639055179, |
| 0.7495729504859496, |
| -0.6569955263696622, |
| 1.400736160080704 |
| ], |
| [ |
| 0.9880300476641746, |
| -0.026890784750358776, |
| -0.15189967283782668, |
| 0.08844453109131574 |
| ], |
| [ |
| -0.13152701122845545, |
| -0.6613752925497731, |
| -0.7384330489096569, |
| 2.3167030289739357 |
| ], |
| [ |
| 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": "right", |
| "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": [ |
| 1.400736160080704, |
| 0.08844453109131574, |
| 2.3167030289739357 |
| ], |
| "camera_focal_length_mm": 10.9140625, |
| "camera_orientation_xyzw": [ |
| 0.6489834719138585, |
| 0.6693556436136641, |
| -0.30375293506040957, |
| -0.19625908892929814 |
| ], |
| "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": [ |
| 1.4007362127304077, |
| 0.0884445309638977, |
| 2.3167030811309814 |
| ], |
| "actual_quaternion_xyzw": [ |
| -0.6489834785461426, |
| -0.6693556308746338, |
| 0.30375292897224426, |
| 0.19625911116600037 |
| ], |
| "valid": true |
| }, |
| "camera_target": [ |
| 0.7437406337110418, |
| -0.06345514174651094, |
| 1.5782699800642788 |
| ], |
| "camera_view": "right", |
| "distractors": [ |
| { |
| "asset_id": "TIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.18443892481913116, |
| 1.212551430772458, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.027652445997691, |
| "yaw_deg": -41.60691641507427 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3048272843683141, |
| 1.2941025369515284, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8340683126327602, |
| "yaw_deg": -133.4846163580706 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.624987464963556, |
| 0.1587733960968964, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0023151170356015, |
| "yaw_deg": 88.58984435373327 |
| }, |
| { |
| "asset_id": "PIP-001", |
| "pitch_deg": -87.20625590520959, |
| "position": [ |
| 0.5976793154516195, |
| -0.3659457350916792, |
| 0.8071829379953257 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9727660638673881, |
| "yaw_deg": 54.17861670251344 |
| }, |
| { |
| "asset_id": "SBI-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.06820260295547786, |
| -0.3305628176685627, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0560339979401459, |
| "yaw_deg": 145.21854186369012 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.48124026363565375, |
| 0.10541236926927106, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0769427580614304, |
| "yaw_deg": 143.088680863229 |
| }, |
| { |
| "asset_id": "TIP-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.2124299534561147, |
| -0.023609339571185106, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0353217768081917, |
| "yaw_deg": -40.597599065352966 |
| } |
| ], |
| "duration_s": 16.81968507374524, |
| "episode_id": 21, |
| "error_type": "wrong_orientation", |
| "frame_count": 505, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9584979820930787 |
| ], |
| "light_intensity": 2393.773999521239, |
| "liquid": { |
| "color_rgb": [ |
| 0.3264945522189659, |
| 0.07108188520670532, |
| 0.17363782757927154 |
| ], |
| "fill_fraction": 0.41677281669624167, |
| "opacity": 0.870105946232876, |
| "vortex_level_rise_fraction": 0.22389484909772603 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 2.688236084867354, |
| "direction_azimuth_deg": 148.70312228665358, |
| "lateral_speed_mps": 0.0662004655385652, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.346740434109682, |
| "release_clearance_m": 0.0070172929000451596, |
| "release_tilt_deg": 115.4596630184558, |
| "stage": "pickup", |
| "tip_duration_s": 0.3792032493662984, |
| "trigger_time_s": 1.486748127643752, |
| "tube_detach_fraction": 0.5205255297470602, |
| "tube_engagement_fraction": 0.6766309203385172, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.0532573234508798 |
| }, |
| "rack_id": "TR-004", |
| "rack_position": [ |
| 0.4612264706371656, |
| 0.3231664366510251, |
| 0.79 |
| ], |
| "rack_yaw_deg": -33.080352111058694, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-004", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-005", |
| "vortex_id": "VTX-003" |
| }, |
| "distractors": { |
| "count": 7, |
| "placements": [ |
| { |
| "asset_id": "TIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.18443892481913116, |
| 1.212551430772458, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.027652445997691, |
| "yaw_deg": -41.60691641507427 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3048272843683141, |
| 1.2941025369515284, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8340683126327602, |
| "yaw_deg": -133.4846163580706 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.624987464963556, |
| 0.1587733960968964, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0023151170356015, |
| "yaw_deg": 88.58984435373327 |
| }, |
| { |
| "asset_id": "PIP-001", |
| "pitch_deg": -87.20625590520959, |
| "position": [ |
| 0.5976793154516195, |
| -0.3659457350916792, |
| 0.8071829379953257 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9727660638673881, |
| "yaw_deg": 54.17861670251344 |
| }, |
| { |
| "asset_id": "SBI-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.06820260295547786, |
| -0.3305628176685627, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0560339979401459, |
| "yaw_deg": 145.21854186369012 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.48124026363565375, |
| 0.10541236926927106, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0769427580614304, |
| "yaw_deg": 143.088680863229 |
| }, |
| { |
| "asset_id": "TIP-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.2124299534561147, |
| -0.023609339571185106, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0353217768081917, |
| "yaw_deg": -40.597599065352966 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.864708181818816, |
| 0.7080094297881129, |
| 0.13647457860236467 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6055621769412057, |
| 0.677982854084716, |
| 0.6971107935433067 |
| ], |
| "floor_color_rgb": [ |
| 0.253429115006186, |
| 0.3447017675851733, |
| 0.35669624800616906 |
| ], |
| "screen_color_rgb": [ |
| 0.32226146350013907, |
| 0.7444173515272247, |
| 0.8002623702741594 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.7433954087703957, |
| 0.7783148750703079, |
| 0.8058737794841407 |
| ] |
| }, |
| "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": [ |
| [ |
| -0.08060564639055179, |
| 0.9880300476641746, |
| -0.13152701122845545, |
| 0.3302304146409879 |
| ], |
| [ |
| 0.7495729504859496, |
| -0.026890784750358776, |
| -0.6613752925497731, |
| 0.4846345500224525 |
| ], |
| [ |
| -0.6569955263696622, |
| -0.15189967283782668, |
| -0.7384330489096569, |
| 2.644442167237768 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "T_world_from_camera": [ |
| [ |
| -0.08060564639055179, |
| 0.7495729504859496, |
| -0.6569955263696622, |
| 1.400736160080704 |
| ], |
| [ |
| 0.9880300476641746, |
| -0.026890784750358776, |
| -0.15189967283782668, |
| 0.08844453109131574 |
| ], |
| [ |
| -0.13152701122845545, |
| -0.6613752925497731, |
| -0.7384330489096569, |
| 2.3167030289739357 |
| ], |
| [ |
| 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": "right", |
| "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" |
| }, |
| "camera_eye_m": [ |
| 1.400736160080704, |
| 0.08844453109131574, |
| 2.3167030289739357 |
| ], |
| "camera_focal_length_mm": 10.9140625, |
| "camera_target_m": [ |
| 0.7437406337110418, |
| -0.06345514174651094, |
| 1.5782699800642788 |
| ], |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9584979820930787 |
| ], |
| "light_intensity": 2393.773999521239, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| 0.4612264706371656, |
| 0.3231664366510251, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -171.46133905787335, |
| "rack_to_vortex_distance_m": 0.6984453221254159, |
| "rack_yaw_deg": -33.080352111058694, |
| "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": [ |
| 0.3983835253742734, |
| 0.3641025360094781, |
| 0.8394 |
| ], |
| "tube_start_position_m": [ |
| 0.4821741190581297, |
| 0.30952107019820746, |
| 0.8394 |
| ], |
| "vortex_contact_position_m": [ |
| -0.17821354119062044, |
| 0.24722983107898644, |
| 1.0265 |
| ], |
| "vortex_position_m": [ |
| -0.229477215252605, |
| 0.21946356158402885, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -61.36185999345734 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.3264945522189659, |
| 0.07108188520670532, |
| 0.17363782757927154 |
| ], |
| "effective_peak_level_fraction": 0.6406676657939677, |
| "effective_vortex_level_rise_fraction": 0.22389484909772603, |
| "fill_fraction": 0.41677281669624167, |
| "opacity": 0.870105946232876, |
| "present": true, |
| "vortex_level_rise_fraction": 0.22389484909772603 |
| }, |
| "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": 25470910, |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": -0.00873654962771224, |
| "depart_pattern": "straight", |
| "depart_sway_m": -0.007837778107951698, |
| "handling_noise_amplitude_m": 0.013090160509675194, |
| "handling_noise_frequency_hz": 0.679098824049511, |
| "handling_noise_phase_xyz_rad": [ |
| 0.7611246674755711, |
| 4.900754218437557, |
| 5.03589653745004 |
| ], |
| "lift_height_m": 0.09484811607420732, |
| "orientation_noise_deg": 4.5564673623822936, |
| "outbound_curve_bias": 0.08092688865128317, |
| "outbound_pattern": "direct", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.921778418838981, |
| 16.81968507374524 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.099116418487755 |
| ], |
| "lift_from_rack": [ |
| 1.099116418487755, |
| 2.217046925067729 |
| ], |
| "lower_to_rack": [ |
| 14.61180907036859, |
| 15.921778418838981 |
| ], |
| "lower_to_vortex": [ |
| 5.549680099210816, |
| 7.129577722347953 |
| ], |
| "raise_from_vortex": [ |
| 11.656755956578971, |
| 12.649555818225954 |
| ], |
| "transfer_to_rack": [ |
| 12.649555818225954, |
| 14.61180907036859 |
| ], |
| "transfer_to_vortex": [ |
| 2.217046925067729, |
| 5.549680099210816 |
| ], |
| "vortex": [ |
| 7.129577722347953, |
| 11.656755956578971 |
| ] |
| }, |
| "pick_line_azimuth_deg": -139.43202248181524, |
| "pick_line_tilt_deg": 4.396424811513068, |
| "pick_pattern": "spiral", |
| "pick_sway_m": -0.005435543264003032, |
| "put_pattern": "s_sway", |
| "put_sway_m": 0.00514153039029059, |
| "rack_put_height_m": 0.2180625186992593, |
| "return_bend_scale": 0.5561397503229345, |
| "return_curve_bias": -0.22824133445214184, |
| "return_pattern": "crescent", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.649677762330002, |
| "transfer_bend_m": 0.22403026735196754, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 4.455690382411868, |
| "vertical_arc_m": 0.23782215990614358, |
| "vortex_apparent_frequency_hz": 8.862372423231243, |
| "vortex_approach_height_m": 0.34148252359024184, |
| "vortex_depart_height_m": 0.2822117987287902, |
| "vortex_frequency_hz": 38.86237242323124, |
| "vortex_phase_rad": 5.586190529223955, |
| "vortex_radius_m": 0.0005893198085666072, |
| "vortex_tilt_deg": 0.8923357332877613 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| -0.075, |
| 0.0 |
| ], |
| "scene_id": "wrong_orientation/scene_000021", |
| "schema_version": 15, |
| "seed": 25470910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "6a8a2e1a385d84f711efae1e96e4160f86370b114549c15e26e300303cbb2781", |
| "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": 14.426012888511309, |
| "mode": "upside_down", |
| "tilt_deg_from_z": 180.0 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": 14.426012888511309, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "upside_down", |
| "tilt_deg_from_z": 180.0, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 7.129577722347953, |
| 11.656755956578971 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "s_sway", |
| "approach_sway_m": -0.00873654962771224, |
| "depart_pattern": "straight", |
| "depart_sway_m": -0.007837778107951698, |
| "handling_noise_amplitude_m": 0.013090160509675194, |
| "handling_noise_frequency_hz": 0.679098824049511, |
| "handling_noise_phase_xyz_rad": [ |
| 0.7611246674755711, |
| 4.900754218437557, |
| 5.03589653745004 |
| ], |
| "lift_height_m": 0.09484811607420732, |
| "orientation_noise_deg": 4.5564673623822936, |
| "outbound_curve_bias": 0.08092688865128317, |
| "outbound_pattern": "direct", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.921778418838981, |
| 16.81968507374524 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.099116418487755 |
| ], |
| "lift_from_rack": [ |
| 1.099116418487755, |
| 2.217046925067729 |
| ], |
| "lower_to_rack": [ |
| 14.61180907036859, |
| 15.921778418838981 |
| ], |
| "lower_to_vortex": [ |
| 5.549680099210816, |
| 7.129577722347953 |
| ], |
| "raise_from_vortex": [ |
| 11.656755956578971, |
| 12.649555818225954 |
| ], |
| "transfer_to_rack": [ |
| 12.649555818225954, |
| 14.61180907036859 |
| ], |
| "transfer_to_vortex": [ |
| 2.217046925067729, |
| 5.549680099210816 |
| ], |
| "vortex": [ |
| 7.129577722347953, |
| 11.656755956578971 |
| ] |
| }, |
| "pick_line_azimuth_deg": -139.43202248181524, |
| "pick_line_tilt_deg": 4.396424811513068, |
| "pick_pattern": "spiral", |
| "pick_sway_m": -0.005435543264003032, |
| "put_pattern": "s_sway", |
| "put_sway_m": 0.00514153039029059, |
| "rack_put_height_m": 0.2180625186992593, |
| "return_bend_scale": 0.5561397503229345, |
| "return_curve_bias": -0.22824133445214184, |
| "return_pattern": "crescent", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.649677762330002, |
| "transfer_bend_m": 0.22403026735196754, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 4.455690382411868, |
| "vertical_arc_m": 0.23782215990614358, |
| "vortex_apparent_frequency_hz": 8.862372423231243, |
| "vortex_approach_height_m": 0.34148252359024184, |
| "vortex_depart_height_m": 0.2822117987287902, |
| "vortex_frequency_hz": 38.86237242323124, |
| "vortex_phase_rad": 5.586190529223955, |
| "vortex_radius_m": 0.0005893198085666072, |
| "vortex_tilt_deg": 0.8923357332877613 |
| }, |
| "trajectory_validation": { |
| "duration_s": 16.81968507374524, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 7.55543271769643e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.0029880056800451592, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 0.0, |
| "wrong_orientation_max_tilt_deg": 180.0, |
| "wrong_orientation_min_tilt_deg": 179.10766426678757, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "transfer_to_vortex", |
| "phase_fraction": 0.74, |
| "release_time_s": 4.683195473933614, |
| "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": [ |
| 0.3983835253742734, |
| 0.3641025360094781, |
| 0.8394 |
| ], |
| "tube_start_position": [ |
| 0.4821741190581297, |
| 0.30952107019820746, |
| 0.8394 |
| ], |
| "video": "right.mp4", |
| "video_sha256": "42a31c71d8a4cb1938fc60534fc66a1ef234373c3da28127c93e568555b9464e", |
| "video_validation": { |
| "actual_frame_count": 505, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 505, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 505, |
| "max_changed_pixel_fraction": 0.006672743055555556, |
| "mean_luminance": 140.6756591796875, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 84, |
| 168, |
| 252, |
| 336, |
| 420, |
| 504 |
| ], |
| "spatial_standard_deviation": 35.58907699584961, |
| "valid": true |
| }, |
| "view_index": 2, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| -0.17821354119062044, |
| 0.24722983107898644, |
| 1.0265 |
| ], |
| "vortex_id": "VTX-003", |
| "vortex_position": [ |
| -0.229477215252605, |
| 0.21946356158402885, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -61.36185999345734, |
| "wrong_orientation": { |
| "azimuth_deg": 14.426012888511309, |
| "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": [ |
| 0.3357885896407594, |
| -0.2780939877259603, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": 13.067670516310955, |
| "release_lateral_offset_m": 0.02210371530973449, |
| "release_phase_fraction": 0.7084438239566498, |
| "release_tilt_deg": 24.921002091505855, |
| "release_time_s": 15.539848764864955, |
| "slot_offset_xy": [ |
| 0.04, |
| 0.0 |
| ], |
| "tube_target_position": [ |
| 0.3751216838606124, |
| -0.2853677556004645, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -10.47719751774379 |
| } |
| } |
|
|
