| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8002046305624153, |
| 0.6822670089926515, |
| 0.1862574234204824 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5848402264830808, |
| 0.7050742398334603, |
| 0.6593027475312667 |
| ], |
| "floor_color_rgb": [ |
| 0.22860004217171945, |
| 0.34904185323796155, |
| 0.32441349402014086 |
| ], |
| "screen_color_rgb": [ |
| 0.31543188427010854, |
| 0.7239747608341627, |
| 0.8282168926220416 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.6905634715175527, |
| 0.7948338423530841, |
| 0.7680516831331535 |
| ] |
| }, |
| "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": "PIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5354088230438094, |
| -0.3885638653579358, |
| 0.8021620435133195 |
| ], |
| "roll_deg": -87.09588281776203, |
| "surface": "main_table", |
| "uniform_scale": 0.7879759130621284, |
| "yaw_deg": 101.2324832081697 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": -86.79855688050095, |
| "position": [ |
| 0.5113437406766127, |
| 0.233990196576014, |
| 0.8164141865527009 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.126703763160906, |
| "yaw_deg": 140.47294221843686 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6870142549155894, |
| 0.3923820444789319, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8721523725430224, |
| "yaw_deg": 97.29468372237648 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.6395240070717001, |
| 1.0810317766148925, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0347911369371618, |
| "yaw_deg": 68.47711862945994 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5519732791468044, |
| -0.1329591219943853, |
| 0.8002938215149452 |
| ], |
| "roll_deg": 91.97769678250535, |
| "surface": "main_table", |
| "uniform_scale": 1.0762441225214496, |
| "yaw_deg": -55.78975472202741 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5539696344758358, |
| 1.247636617175875, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0254369339846692, |
| "yaw_deg": 160.38081725766017 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5572099357100794, |
| -0.2846589928905401, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9242234856323623, |
| "yaw_deg": -82.20806251146624 |
| } |
| ], |
| "duration_s": 16.9538453173225, |
| "episode_id": 35, |
| "error_type": "wrong_orientation", |
| "frame_count": 509, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9797485319952797 |
| ], |
| "light_intensity": 1902.313735860855, |
| "liquid": { |
| "color_rgb": [ |
| 0.025313372715122445, |
| 0.30316077495687216, |
| 0.2356639357083629 |
| ], |
| "fill_fraction": 0.4178770298665557, |
| "opacity": 0.8604989518932397, |
| "vortex_level_rise_fraction": 0.21424839810146512 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 2.791028852335133, |
| "direction_azimuth_deg": -107.40407277879014, |
| "lateral_speed_mps": 0.034084400976017705, |
| "phase": "lower_to_rack", |
| "phase_fraction": 0.7543065695251645, |
| "release_clearance_m": 0.006431035339788784, |
| "release_tilt_deg": 125.27816781154648, |
| "stage": "insertion", |
| "tip_duration_s": 0.4603480726645398, |
| "trigger_time_s": 15.532349524985845, |
| "tube_detach_fraction": 0.44290465056942285, |
| "tube_engagement_fraction": 0.5475833713889897, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.09509165364269334 |
| }, |
| "rack_id": "TR-004", |
| "rack_position": [ |
| -0.36553442944856074, |
| 0.11857263760022013, |
| 0.79 |
| ], |
| "rack_yaw_deg": -22.66148063632638, |
| "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": 7, |
| "placements": [ |
| { |
| "asset_id": "PIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5354088230438094, |
| -0.3885638653579358, |
| 0.8021620435133195 |
| ], |
| "roll_deg": -87.09588281776203, |
| "surface": "main_table", |
| "uniform_scale": 0.7879759130621284, |
| "yaw_deg": 101.2324832081697 |
| }, |
| { |
| "asset_id": "PIP-005", |
| "pitch_deg": -86.79855688050095, |
| "position": [ |
| 0.5113437406766127, |
| 0.233990196576014, |
| 0.8164141865527009 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.126703763160906, |
| "yaw_deg": 140.47294221843686 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6870142549155894, |
| 0.3923820444789319, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8721523725430224, |
| "yaw_deg": 97.29468372237648 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.6395240070717001, |
| 1.0810317766148925, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0347911369371618, |
| "yaw_deg": 68.47711862945994 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5519732791468044, |
| -0.1329591219943853, |
| 0.8002938215149452 |
| ], |
| "roll_deg": 91.97769678250535, |
| "surface": "main_table", |
| "uniform_scale": 1.0762441225214496, |
| "yaw_deg": -55.78975472202741 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.5539696344758358, |
| 1.247636617175875, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0254369339846692, |
| "yaw_deg": 160.38081725766017 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5572099357100794, |
| -0.2846589928905401, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9242234856323623, |
| "yaw_deg": -82.20806251146624 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8002046305624153, |
| 0.6822670089926515, |
| 0.1862574234204824 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5848402264830808, |
| 0.7050742398334603, |
| 0.6593027475312667 |
| ], |
| "floor_color_rgb": [ |
| 0.22860004217171945, |
| 0.34904185323796155, |
| 0.32441349402014086 |
| ], |
| "screen_color_rgb": [ |
| 0.31543188427010854, |
| 0.7239747608341627, |
| 0.8282168926220416 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.6905634715175527, |
| 0.7948338423530841, |
| 0.7680516831331535 |
| ] |
| }, |
| "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, |
| 0.9797485319952797 |
| ], |
| "light_intensity": 1902.313735860855, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| -0.36553442944856074, |
| 0.11857263760022013, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -13.508076138462572, |
| "rack_to_vortex_distance_m": 0.7473528539726644, |
| "rack_yaw_deg": -22.66148063632638, |
| "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": [ |
| -0.3424644964080306, |
| 0.1089404940430748, |
| 0.8529 |
| ], |
| "tube_start_position_m": [ |
| -0.2963246303269703, |
| 0.08967620692878414, |
| 0.8529 |
| ], |
| "vortex_contact_position_m": [ |
| 0.3120512233412167, |
| -0.028232218428457193, |
| 1.0070000000000001 |
| ], |
| "vortex_position_m": [ |
| 0.36114440655923685, |
| -0.05599585222380005, |
| 0.79 |
| ], |
| "vortex_yaw_deg": 60.51056847403555 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.025313372715122445, |
| 0.30316077495687216, |
| 0.2356639357083629 |
| ], |
| "effective_peak_level_fraction": 0.6321254279680208, |
| "effective_vortex_level_rise_fraction": 0.21424839810146512, |
| "fill_fraction": 0.4178770298665557, |
| "opacity": 0.8604989518932397, |
| "present": true, |
| "vortex_level_rise_fraction": 0.21424839810146512 |
| }, |
| "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": 25610909, |
| "trajectory": { |
| "approach_pattern": "straight", |
| "approach_sway_m": 0.006259692164240702, |
| "depart_pattern": "s_sway", |
| "depart_sway_m": 0.00897340496942953, |
| "handling_noise_amplitude_m": 0.002676793817467516, |
| "handling_noise_frequency_hz": 2.0330979166569163, |
| "handling_noise_phase_xyz_rad": [ |
| 4.26231586279348, |
| 4.335792101619024, |
| 5.382210468017845 |
| ], |
| "lift_height_m": 0.06322361656757924, |
| "orientation_noise_deg": 2.0383067178259746, |
| "outbound_curve_bias": 0.4614246966102862, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.721998468206246, |
| 16.9538453173225 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.9510591025722785 |
| ], |
| "lift_from_rack": [ |
| 0.9510591025722785, |
| 3.167129895255097 |
| ], |
| "lower_to_rack": [ |
| 14.950105858567152, |
| 15.721998468206246 |
| ], |
| "lower_to_vortex": [ |
| 6.3124125316027655, |
| 7.512467647532489 |
| ], |
| "raise_from_vortex": [ |
| 10.734475686783945, |
| 11.779868455740054 |
| ], |
| "transfer_to_rack": [ |
| 11.779868455740054, |
| 14.950105858567152 |
| ], |
| "transfer_to_vortex": [ |
| 3.167129895255097, |
| 6.3124125316027655 |
| ], |
| "vortex": [ |
| 7.512467647532489, |
| 10.734475686783945 |
| ] |
| }, |
| "pick_line_azimuth_deg": 60.82480147445756, |
| "pick_line_tilt_deg": 3.088626768226066, |
| "pick_pattern": "s_sway", |
| "pick_sway_m": 0.009031674555264674, |
| "put_pattern": "s_sway", |
| "put_sway_m": 0.005850192194306293, |
| "rack_put_height_m": 0.2467084144219939, |
| "return_bend_scale": 1.1784820260295765, |
| "return_curve_bias": -0.25116686917792197, |
| "return_pattern": "high_arc", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.1337143985330587, |
| "transfer_bend_m": 0.07381006154697695, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 14.458067199271552, |
| "vertical_arc_m": 0.08836118684977984, |
| "vortex_apparent_frequency_hz": 7.117781238240298, |
| "vortex_approach_height_m": 0.25026406033194826, |
| "vortex_depart_height_m": 0.08806786315389462, |
| "vortex_frequency_hz": 37.1177812382403, |
| "vortex_phase_rad": 5.119969323277453, |
| "vortex_radius_m": 0.00043622348700726526, |
| "vortex_tilt_deg": 0.5497929514197126 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.025, |
| 0.0 |
| ], |
| "scene_id": "wrong_orientation/scene_000035", |
| "schema_version": 15, |
| "seed": 25610909, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "f8aace2769ca95896d1dfdac6e2e6b4568e691356f840a1922f41013e4f07857", |
| "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": 55.28533127918615, |
| "mode": "upside_down", |
| "tilt_deg_from_z": 180.0 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": 55.28533127918615, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "upside_down", |
| "tilt_deg_from_z": 180.0, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 7.512467647532489, |
| 10.734475686783945 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "straight", |
| "approach_sway_m": 0.006259692164240702, |
| "depart_pattern": "s_sway", |
| "depart_sway_m": 0.00897340496942953, |
| "handling_noise_amplitude_m": 0.002676793817467516, |
| "handling_noise_frequency_hz": 2.0330979166569163, |
| "handling_noise_phase_xyz_rad": [ |
| 4.26231586279348, |
| 4.335792101619024, |
| 5.382210468017845 |
| ], |
| "lift_height_m": 0.06322361656757924, |
| "orientation_noise_deg": 2.0383067178259746, |
| "outbound_curve_bias": 0.4614246966102862, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.721998468206246, |
| 16.9538453173225 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.9510591025722785 |
| ], |
| "lift_from_rack": [ |
| 0.9510591025722785, |
| 3.167129895255097 |
| ], |
| "lower_to_rack": [ |
| 14.950105858567152, |
| 15.721998468206246 |
| ], |
| "lower_to_vortex": [ |
| 6.3124125316027655, |
| 7.512467647532489 |
| ], |
| "raise_from_vortex": [ |
| 10.734475686783945, |
| 11.779868455740054 |
| ], |
| "transfer_to_rack": [ |
| 11.779868455740054, |
| 14.950105858567152 |
| ], |
| "transfer_to_vortex": [ |
| 3.167129895255097, |
| 6.3124125316027655 |
| ], |
| "vortex": [ |
| 7.512467647532489, |
| 10.734475686783945 |
| ] |
| }, |
| "pick_line_azimuth_deg": 60.82480147445756, |
| "pick_line_tilt_deg": 3.088626768226066, |
| "pick_pattern": "s_sway", |
| "pick_sway_m": 0.009031674555264674, |
| "put_pattern": "s_sway", |
| "put_sway_m": 0.005850192194306293, |
| "rack_put_height_m": 0.2467084144219939, |
| "return_bend_scale": 1.1784820260295765, |
| "return_curve_bias": -0.25116686917792197, |
| "return_pattern": "high_arc", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.1337143985330587, |
| "transfer_bend_m": 0.07381006154697695, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 14.458067199271552, |
| "vertical_arc_m": 0.08836118684977984, |
| "vortex_apparent_frequency_hz": 7.117781238240298, |
| "vortex_approach_height_m": 0.25026406033194826, |
| "vortex_depart_height_m": 0.08806786315389462, |
| "vortex_frequency_hz": 37.1177812382403, |
| "vortex_phase_rad": 5.119969323277453, |
| "vortex_radius_m": 0.00043622348700726526, |
| "vortex_tilt_deg": 0.5497929514197126 |
| }, |
| "trajectory_validation": { |
| "duration_s": 16.9538453173225, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 5.11975649256e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.0025336295238840537, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 0.0, |
| "wrong_orientation_max_tilt_deg": 180.0, |
| "wrong_orientation_min_tilt_deg": 179.4502070486861, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "transfer_to_rack", |
| "phase_fraction": 0.21999999999999997, |
| "release_time_s": 12.477320684362017, |
| "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": [ |
| -0.3424644964080306, |
| 0.1089404940430748, |
| 0.8529 |
| ], |
| "tube_start_position": [ |
| -0.2963246303269703, |
| 0.08967620692878414, |
| 0.8529 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "a5a9e41599609ec3e986d8a9ec625c1bbe3926f5ba274b63de68e2ed9fa0c40e", |
| "video_validation": { |
| "actual_frame_count": 509, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 509, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 509, |
| "max_changed_pixel_fraction": 0.00592578125, |
| "mean_luminance": 143.24424743652344, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 85, |
| 169, |
| 254, |
| 339, |
| 423, |
| 508 |
| ], |
| "spatial_standard_deviation": 36.76441955566406, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| 0.3120512233412167, |
| -0.028232218428457193, |
| 1.0070000000000001 |
| ], |
| "vortex_id": "VTX-001", |
| "vortex_position": [ |
| 0.36114440655923685, |
| -0.05599585222380005, |
| 0.79 |
| ], |
| "vortex_yaw_deg": 60.51056847403555, |
| "wrong_orientation": { |
| "azimuth_deg": 55.28533127918615, |
| "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": [ |
| -0.14546393793787393, |
| -0.3573716888080814, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": 48.12257489561625, |
| "release_lateral_offset_m": 0.02230747290028908, |
| "release_phase_fraction": 0.7539461348112406, |
| "release_tilt_deg": 29.246040491153465, |
| "release_time_s": 15.53207130809391, |
| "slot_offset_xy": [ |
| -0.02, |
| 0.0 |
| ], |
| "tube_target_position": [ |
| -0.16263692617359857, |
| -0.34712042181050184, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -30.83472453626944 |
| } |
| } |
|
|
