| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8561222355080721, |
| 0.5397661575222917, |
| 0.19889601880525204 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5340745144646488, |
| 0.6370244746470825, |
| 0.6038299036799093 |
| ], |
| "floor_color_rgb": [ |
| 0.2595453387821637, |
| 0.3371297725449721, |
| 0.31158905045105906 |
| ], |
| "screen_color_rgb": [ |
| 0.32217389618537945, |
| 0.7126740086425489, |
| 0.6798868266460202 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.7407297145773831, |
| 0.8197945280776315, |
| 0.7070757169728918 |
| ] |
| }, |
| "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": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.19469821163459, |
| 1.2225459162556593, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8444364608697776, |
| "yaw_deg": 107.13407214711214 |
| }, |
| { |
| "asset_id": "TIP-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.2579563046963458, |
| 1.166064510073897, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0758622665035549, |
| "yaw_deg": -178.78613102174177 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.08732718264241668, |
| 0.0884027857403974, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.7933477475312095, |
| "yaw_deg": -80.19313037958543 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.6396261811226364, |
| 1.0270774223032126, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8545212579695736, |
| "yaw_deg": 170.10703578197962 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": 90.03757937800168, |
| "position": [ |
| -0.569579028110018, |
| 0.24561533690731358, |
| 0.8108407009069063 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8843783003002746, |
| "yaw_deg": 106.49328463438388 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.07370755453363154, |
| -0.3611948581871225, |
| 0.8010944422115013 |
| ], |
| "roll_deg": -91.42910036845106, |
| "surface": "main_table", |
| "uniform_scale": 1.1642244188462962, |
| "yaw_deg": 19.13789037965691 |
| } |
| ], |
| "duration_s": 16.384003804847456, |
| "episode_id": 30, |
| "error_type": "wrong_orientation", |
| "frame_count": 492, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.9590406840116209, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 1990.2606803167641, |
| "liquid": { |
| "color_rgb": [ |
| 0.04809756769387695, |
| 0.2761553689318745, |
| 0.32937596681361575 |
| ], |
| "fill_fraction": 0.5410189376977333, |
| "opacity": 0.9071770584057505, |
| "vortex_level_rise_fraction": 0.20237058220615337 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.6051942305892015, |
| "direction_azimuth_deg": 83.01292205609832, |
| "lateral_speed_mps": 0.045049385553440714, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.3017227195509644, |
| "release_clearance_m": 0.0066036705470716274, |
| "release_tilt_deg": 113.91182597233262, |
| "stage": "pickup", |
| "tip_duration_s": 0.4343781396750447, |
| "trigger_time_s": 1.1651532776408549, |
| "tube_detach_fraction": 0.48001919874815635, |
| "tube_engagement_fraction": 0.45080948997973147, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.04975205344619068 |
| }, |
| "rack_id": "TR-002", |
| "rack_position": [ |
| -0.321160307063368, |
| -0.12621216332771826, |
| 0.79 |
| ], |
| "rack_yaw_deg": 54.471146209120874, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-002", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-009", |
| "vortex_id": "VTX-002" |
| }, |
| "distractors": { |
| "count": 6, |
| "placements": [ |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.19469821163459, |
| 1.2225459162556593, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8444364608697776, |
| "yaw_deg": 107.13407214711214 |
| }, |
| { |
| "asset_id": "TIP-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.2579563046963458, |
| 1.166064510073897, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0758622665035549, |
| "yaw_deg": -178.78613102174177 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.08732718264241668, |
| 0.0884027857403974, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.7933477475312095, |
| "yaw_deg": -80.19313037958543 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.6396261811226364, |
| 1.0270774223032126, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8545212579695736, |
| "yaw_deg": 170.10703578197962 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": 90.03757937800168, |
| "position": [ |
| -0.569579028110018, |
| 0.24561533690731358, |
| 0.8108407009069063 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8843783003002746, |
| "yaw_deg": 106.49328463438388 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.07370755453363154, |
| -0.3611948581871225, |
| 0.8010944422115013 |
| ], |
| "roll_deg": -91.42910036845106, |
| "surface": "main_table", |
| "uniform_scale": 1.1642244188462962, |
| "yaw_deg": 19.13789037965691 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8561222355080721, |
| 0.5397661575222917, |
| 0.19889601880525204 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5340745144646488, |
| 0.6370244746470825, |
| 0.6038299036799093 |
| ], |
| "floor_color_rgb": [ |
| 0.2595453387821637, |
| 0.3371297725449721, |
| 0.31158905045105906 |
| ], |
| "screen_color_rgb": [ |
| 0.32217389618537945, |
| 0.7126740086425489, |
| 0.6798868266460202 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.7407297145773831, |
| 0.8197945280776315, |
| 0.7070757169728918 |
| ] |
| }, |
| "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": [ |
| 0.9590406840116209, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 1990.2606803167641, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| -0.321160307063368, |
| -0.12621216332771826, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": 6.311214768787654, |
| "rack_to_vortex_distance_m": 0.7983556266556396, |
| "rack_yaw_deg": 54.471146209120874, |
| "return_slot_offset_xy_m": [ |
| 0.034, |
| 0.034 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| 0.0, |
| 0.034 |
| ], |
| "tube_return_position_m": [ |
| -0.3290724508491874, |
| -0.07878434469020848, |
| 0.8152000000000001 |
| ], |
| "tube_start_position_m": [ |
| -0.3488302882750326, |
| -0.10645432590187306, |
| 0.8152000000000001 |
| ], |
| "vortex_contact_position_m": [ |
| 0.47798721038723246, |
| -0.010550034240095162, |
| 0.9790000000000001 |
| ], |
| "vortex_position_m": [ |
| 0.472356851473894, |
| -0.038449838155301994, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -30.480958426462912 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.04809756769387695, |
| 0.2761553689318745, |
| 0.32937596681361575 |
| ], |
| "effective_peak_level_fraction": 0.7433895199038867, |
| "effective_vortex_level_rise_fraction": 0.20237058220615337, |
| "fill_fraction": 0.5410189376977333, |
| "opacity": 0.9071770584057505, |
| "present": true, |
| "vortex_level_rise_fraction": 0.20237058220615337 |
| }, |
| "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": 25560909, |
| "trajectory": { |
| "approach_pattern": "spiral", |
| "approach_sway_m": -0.010399715492070243, |
| "depart_pattern": "straight", |
| "depart_sway_m": 0.006653439635085882, |
| "handling_noise_amplitude_m": 0.006241430112838369, |
| "handling_noise_frequency_hz": 1.7656875995558843, |
| "handling_noise_phase_xyz_rad": [ |
| 2.257883735553411, |
| 5.1976105808283055, |
| 0.31887360122712727 |
| ], |
| "lift_height_m": 0.11557247380282726, |
| "orientation_noise_deg": 0.9069170507820149, |
| "outbound_curve_bias": 0.12863462687352556, |
| "outbound_pattern": "double_s", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.212594098682152, |
| 16.384003804847456 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8821539732675119 |
| ], |
| "lift_from_rack": [ |
| 0.8821539732675119, |
| 1.820098934106105 |
| ], |
| "lower_to_rack": [ |
| 13.820301928719614, |
| 15.212594098682152 |
| ], |
| "lower_to_vortex": [ |
| 5.105551943936583, |
| 5.726988067107016 |
| ], |
| "raise_from_vortex": [ |
| 9.236655347112418, |
| 10.267523424946313 |
| ], |
| "transfer_to_rack": [ |
| 10.267523424946313, |
| 13.820301928719614 |
| ], |
| "transfer_to_vortex": [ |
| 1.820098934106105, |
| 5.105551943936583 |
| ], |
| "vortex": [ |
| 5.726988067107016, |
| 9.236655347112418 |
| ] |
| }, |
| "pick_line_azimuth_deg": -100.28912916885983, |
| "pick_line_tilt_deg": 3.4935128678613734, |
| "pick_pattern": "straight", |
| "pick_sway_m": -0.006158212320347928, |
| "put_pattern": "straight", |
| "put_sway_m": -0.009178740835599174, |
| "rack_put_height_m": 0.3390456900498043, |
| "return_bend_scale": 0.8268652514929826, |
| "return_curve_bias": 0.3725870492943182, |
| "return_pattern": "crescent", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.371383173163895, |
| "transfer_bend_m": 0.23304637517878235, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 12.581683535493559, |
| "vertical_arc_m": 0.2549776290657499, |
| "vortex_apparent_frequency_hz": 9.425569137763254, |
| "vortex_approach_height_m": 0.19662879175265058, |
| "vortex_depart_height_m": 0.19818170991871936, |
| "vortex_frequency_hz": 20.574430862236746, |
| "vortex_phase_rad": 3.66013132753232, |
| "vortex_radius_m": 0.0005768767593647232, |
| "vortex_tilt_deg": 0.2409638635763155 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.034, |
| 0.034 |
| ], |
| "scene_id": "wrong_orientation/scene_000030", |
| "schema_version": 15, |
| "seed": 25560909, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "e6e64ebff2ce44ec8e1423075ec20f5c8e17c35af9e0b2d8fbd55087e62f0665", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| 0.0, |
| 0.034 |
| ], |
| "subtype_event": { |
| "category": "wrong_orientation", |
| "event_phase": "vortex", |
| "is_failure": true, |
| "randomized_parameters": { |
| "azimuth_deg": -9.527610309853628, |
| "mode": "tilted", |
| "tilt_deg_from_z": 37.00334509738188 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": -9.527610309853628, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "tilted", |
| "tilt_deg_from_z": 37.00334509738188, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 5.726988067107016, |
| 9.236655347112418 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "spiral", |
| "approach_sway_m": -0.010399715492070243, |
| "depart_pattern": "straight", |
| "depart_sway_m": 0.006653439635085882, |
| "handling_noise_amplitude_m": 0.006241430112838369, |
| "handling_noise_frequency_hz": 1.7656875995558843, |
| "handling_noise_phase_xyz_rad": [ |
| 2.257883735553411, |
| 5.1976105808283055, |
| 0.31887360122712727 |
| ], |
| "lift_height_m": 0.11557247380282726, |
| "orientation_noise_deg": 0.9069170507820149, |
| "outbound_curve_bias": 0.12863462687352556, |
| "outbound_pattern": "double_s", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.212594098682152, |
| 16.384003804847456 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8821539732675119 |
| ], |
| "lift_from_rack": [ |
| 0.8821539732675119, |
| 1.820098934106105 |
| ], |
| "lower_to_rack": [ |
| 13.820301928719614, |
| 15.212594098682152 |
| ], |
| "lower_to_vortex": [ |
| 5.105551943936583, |
| 5.726988067107016 |
| ], |
| "raise_from_vortex": [ |
| 9.236655347112418, |
| 10.267523424946313 |
| ], |
| "transfer_to_rack": [ |
| 10.267523424946313, |
| 13.820301928719614 |
| ], |
| "transfer_to_vortex": [ |
| 1.820098934106105, |
| 5.105551943936583 |
| ], |
| "vortex": [ |
| 5.726988067107016, |
| 9.236655347112418 |
| ] |
| }, |
| "pick_line_azimuth_deg": -100.28912916885983, |
| "pick_line_tilt_deg": 3.4935128678613734, |
| "pick_pattern": "straight", |
| "pick_sway_m": -0.006158212320347928, |
| "put_pattern": "straight", |
| "put_sway_m": -0.009178740835599174, |
| "rack_put_height_m": 0.3390456900498043, |
| "return_bend_scale": 0.8268652514929826, |
| "return_curve_bias": 0.3725870492943182, |
| "return_pattern": "crescent", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.371383173163895, |
| "transfer_bend_m": 0.23304637517878235, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 12.581683535493559, |
| "vertical_arc_m": 0.2549776290657499, |
| "vortex_apparent_frequency_hz": 9.425569137763254, |
| "vortex_approach_height_m": 0.19662879175265058, |
| "vortex_depart_height_m": 0.19818170991871936, |
| "vortex_frequency_hz": 20.574430862236746, |
| "vortex_phase_rad": 3.66013132753232, |
| "vortex_radius_m": 0.0005768767593647232, |
| "vortex_tilt_deg": 0.2409638635763155 |
| }, |
| "trajectory_validation": { |
| "duration_s": 16.384003804847456, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 8.441528768080325e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.0032587882973615467, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 1.734723475976807e-18, |
| "wrong_orientation_max_tilt_deg": 37.244199310737045, |
| "wrong_orientation_min_tilt_deg": 36.76253479995431, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "vortex", |
| "phase_fraction": 0.6311488847472493, |
| "release_time_s": 7.942110656716338, |
| "target_surface": "vortex", |
| "vortex_release_azimuth_deg": 54.31078276012602, |
| "vortex_release_offset_m": 0.03264402366506419, |
| "vortex_release_tilt_deg": 0.0 |
| }, |
| "tube_id": "CT-009", |
| "tube_return_position": [ |
| -0.3290724508491874, |
| -0.07878434469020848, |
| 0.8152000000000001 |
| ], |
| "tube_start_position": [ |
| -0.3488302882750326, |
| -0.10645432590187306, |
| 0.8152000000000001 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "bba0a4a11b35c72ddfc7d8e5c59213530e148a298bdbda795ded5edcaeb86496", |
| "video_validation": { |
| "actual_frame_count": 492, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 492, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 492, |
| "max_changed_pixel_fraction": 0.009625, |
| "mean_luminance": 137.59988403320312, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 82, |
| 164, |
| 246, |
| 327, |
| 409, |
| 491 |
| ], |
| "spatial_standard_deviation": 29.356225967407227, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| 0.47798721038723246, |
| -0.010550034240095162, |
| 0.9790000000000001 |
| ], |
| "vortex_id": "VTX-002", |
| "vortex_position": [ |
| 0.472356851473894, |
| -0.038449838155301994, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -30.480958426462912, |
| "wrong_orientation": { |
| "azimuth_deg": -9.527610309853628, |
| "mode": "tilted", |
| "tilt_deg_from_z": 37.00334509738188 |
| }, |
| "wrong_rack": { |
| "hole_relation": "too_small", |
| "insertion_depth_m": 0.0, |
| "insertion_succeeds": false, |
| "placement_outcome": "physx_drop_pending", |
| "position": [ |
| -0.2398506296067348, |
| 0.15950317290214144, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": 61.08199074688795, |
| "release_lateral_offset_m": 0.022942108432116297, |
| "release_phase_fraction": 0.6837794128516015, |
| "release_tilt_deg": 28.06334696388638, |
| "release_time_s": 14.77232265121448, |
| "slot_offset_xy": [ |
| 0.04, |
| 0.019 |
| ], |
| "tube_target_position": [ |
| -0.21104234545683204, |
| 0.1258715989821112, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -74.82487148312865 |
| } |
| } |
|
|
