| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8680052060727224, |
| 0.5934798419363629, |
| 0.20943927693883002 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5486084976708546, |
| 0.6241808985061077, |
| 0.5567228319793951 |
| ], |
| "floor_color_rgb": [ |
| 0.2324577553999946, |
| 0.2922947755266794, |
| 0.29034887933092807 |
| ], |
| "screen_color_rgb": [ |
| 0.32094710401987664, |
| 0.7382824461424834, |
| 0.652464201532002 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.705031378707887, |
| 0.8022515597134207, |
| 0.7079844228378641 |
| ] |
| }, |
| "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-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6154632282901096, |
| 1.1205555714348931, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0258077170692266, |
| "yaw_deg": 141.90678937380306 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6321087151961717, |
| -0.046744241965206546, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.824765631237473, |
| "yaw_deg": 72.9588848510312 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.03136956375194411, |
| 1.1825092692502666, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.094785564659482, |
| "yaw_deg": -98.33237733549012 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.23708062350772208, |
| -0.08806370577117048, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1490584371927464, |
| "yaw_deg": 47.845908605326656 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": -89.49945472478699, |
| "position": [ |
| 0.45056962063912687, |
| 1.277783603104516, |
| 0.857757724805942 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9752316567421119, |
| "yaw_deg": 125.42340485758672 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.22418084126611348, |
| -0.2645940740997858, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8750595747996094, |
| "yaw_deg": -14.484537158026853 |
| }, |
| { |
| "asset_id": "PIP-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.676029499310327, |
| -0.3695279312720842, |
| 0.7987501851514046 |
| ], |
| "roll_deg": -90.3291977596572, |
| "surface": "main_table", |
| "uniform_scale": 0.9066137529015985, |
| "yaw_deg": -140.24495579932963 |
| }, |
| { |
| "asset_id": "PIP-008", |
| "pitch_deg": -88.37140363075771, |
| "position": [ |
| -0.23945919131486482, |
| 1.0531342797535108, |
| 0.8411738079990905 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.1601965216402774, |
| "yaw_deg": 146.33984678610778 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.7258690819955057, |
| 1.122312944363711, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.100142286425815, |
| "yaw_deg": 33.29685758217886 |
| }, |
| { |
| "asset_id": "RES-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.23862506062308508, |
| 1.3029295406192059, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8026115276065946, |
| "yaw_deg": -31.1360387268019 |
| } |
| ], |
| "duration_s": 14.618571055702015, |
| "episode_id": 41, |
| "error_type": "wrong_orientation", |
| "frame_count": 439, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.9408393827175373, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2436.339423511153, |
| "liquid": { |
| "color_rgb": [ |
| 0.0674286395416834, |
| 0.21512596503404127, |
| 0.36817991935603717 |
| ], |
| "fill_fraction": 0.4576348117606837, |
| "opacity": 0.9092043579700182, |
| "vortex_level_rise_fraction": 0.18216387832547398 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.5239257839490885, |
| "direction_azimuth_deg": 146.12914057127796, |
| "lateral_speed_mps": 0.08418644170202036, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.4440760368448604, |
| "release_clearance_m": 0.005863116490845797, |
| "release_tilt_deg": 111.23490691118032, |
| "stage": "pickup", |
| "tip_duration_s": 0.33612413494676374, |
| "trigger_time_s": 1.2945461556595428, |
| "tube_detach_fraction": 0.5982291825498859, |
| "tube_engagement_fraction": 0.31791169388391693, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.07875837815877976 |
| }, |
| "rack_id": "TR-004", |
| "rack_position": [ |
| 0.5878335744033367, |
| 0.14619588799703764, |
| 0.79 |
| ], |
| "rack_yaw_deg": -30.36952491528351, |
| "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": 10, |
| "placements": [ |
| { |
| "asset_id": "TIP-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6154632282901096, |
| 1.1205555714348931, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0258077170692266, |
| "yaw_deg": 141.90678937380306 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.6321087151961717, |
| -0.046744241965206546, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.824765631237473, |
| "yaw_deg": 72.9588848510312 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.03136956375194411, |
| 1.1825092692502666, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.094785564659482, |
| "yaw_deg": -98.33237733549012 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.23708062350772208, |
| -0.08806370577117048, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1490584371927464, |
| "yaw_deg": 47.845908605326656 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": -89.49945472478699, |
| "position": [ |
| 0.45056962063912687, |
| 1.277783603104516, |
| 0.857757724805942 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.9752316567421119, |
| "yaw_deg": 125.42340485758672 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.22418084126611348, |
| -0.2645940740997858, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8750595747996094, |
| "yaw_deg": -14.484537158026853 |
| }, |
| { |
| "asset_id": "PIP-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.676029499310327, |
| -0.3695279312720842, |
| 0.7987501851514046 |
| ], |
| "roll_deg": -90.3291977596572, |
| "surface": "main_table", |
| "uniform_scale": 0.9066137529015985, |
| "yaw_deg": -140.24495579932963 |
| }, |
| { |
| "asset_id": "PIP-008", |
| "pitch_deg": -88.37140363075771, |
| "position": [ |
| -0.23945919131486482, |
| 1.0531342797535108, |
| 0.8411738079990905 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.1601965216402774, |
| "yaw_deg": 146.33984678610778 |
| }, |
| { |
| "asset_id": "AUX-TR-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.7258690819955057, |
| 1.122312944363711, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.100142286425815, |
| "yaw_deg": 33.29685758217886 |
| }, |
| { |
| "asset_id": "RES-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.23862506062308508, |
| 1.3029295406192059, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.8026115276065946, |
| "yaw_deg": -31.1360387268019 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8680052060727224, |
| 0.5934798419363629, |
| 0.20943927693883002 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5486084976708546, |
| 0.6241808985061077, |
| 0.5567228319793951 |
| ], |
| "floor_color_rgb": [ |
| 0.2324577553999946, |
| 0.2922947755266794, |
| 0.29034887933092807 |
| ], |
| "screen_color_rgb": [ |
| 0.32094710401987664, |
| 0.7382824461424834, |
| 0.652464201532002 |
| ], |
| "style": "wet_lab", |
| "wall_color_rgb": [ |
| 0.705031378707887, |
| 0.8022515597134207, |
| 0.7079844228378641 |
| ] |
| }, |
| "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": [ |
| 0.9408393827175373, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2436.339423511153, |
| "table_color_rgb": [ |
| 0.36, |
| 0.42, |
| 0.48 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| 0.5878335744033367, |
| 0.14619588799703764, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": 170.4536946207208, |
| "rack_to_vortex_distance_m": 0.51825028365266, |
| "rack_yaw_deg": -30.36952491528351, |
| "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": [ |
| 0.6525422770364642, |
| 0.10827776827127225, |
| 0.8394 |
| ], |
| "tube_start_position_m": [ |
| 0.6094031419477126, |
| 0.13355651475511585, |
| 0.8394 |
| ], |
| "vortex_contact_position_m": [ |
| 0.07868250611867113, |
| 0.2904135634265259, |
| 1.0265 |
| ], |
| "vortex_position_m": [ |
| 0.07676007713767197, |
| 0.23214492463332073, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -1.6930922555457926 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.0674286395416834, |
| 0.21512596503404127, |
| 0.36817991935603717 |
| ], |
| "effective_peak_level_fraction": 0.6397986900861576, |
| "effective_vortex_level_rise_fraction": 0.18216387832547398, |
| "fill_fraction": 0.4576348117606837, |
| "opacity": 0.9092043579700182, |
| "present": true, |
| "vortex_level_rise_fraction": 0.18216387832547398 |
| }, |
| "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": 25670910, |
| "trajectory": { |
| "approach_pattern": "lean", |
| "approach_sway_m": 0.003300497822394997, |
| "depart_pattern": "hook", |
| "depart_sway_m": -0.006393164278571209, |
| "handling_noise_amplitude_m": 0.012624533450279012, |
| "handling_noise_frequency_hz": 2.5799580217742113, |
| "handling_noise_phase_xyz_rad": [ |
| 0.9811581389661111, |
| 2.3776989046251775, |
| 0.7025245065467681 |
| ], |
| "lift_height_m": 0.11626100208380352, |
| "orientation_noise_deg": 5.752653970549398, |
| "outbound_curve_bias": -0.5550311260063389, |
| "outbound_pattern": "late_swoop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 13.68434374729297, |
| 14.618571055702015 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8691029647493962 |
| ], |
| "lift_from_rack": [ |
| 0.8691029647493962, |
| 1.8271442811259804 |
| ], |
| "lower_to_rack": [ |
| 13.06816044258333, |
| 13.68434374729297 |
| ], |
| "lower_to_vortex": [ |
| 3.765707601508446, |
| 4.842279495708699 |
| ], |
| "raise_from_vortex": [ |
| 8.215559349736711, |
| 9.65056200692764 |
| ], |
| "transfer_to_rack": [ |
| 9.65056200692764, |
| 13.06816044258333 |
| ], |
| "transfer_to_vortex": [ |
| 1.8271442811259804, |
| 3.765707601508446 |
| ], |
| "vortex": [ |
| 4.842279495708699, |
| 8.215559349736711 |
| ] |
| }, |
| "pick_line_azimuth_deg": -91.76541995383624, |
| "pick_line_tilt_deg": 10.159447924454868, |
| "pick_pattern": "lean", |
| "pick_sway_m": -0.008512946024354212, |
| "put_pattern": "straight", |
| "put_sway_m": -0.004197609504899452, |
| "rack_put_height_m": 0.33765173503519885, |
| "return_bend_scale": 1.5670847643228631, |
| "return_curve_bias": -0.6981115553099079, |
| "return_pattern": "wide_detour", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 0.5617872829896038, |
| "transfer_bend_m": 0.3176599060470677, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 2.834816911674567, |
| "vertical_arc_m": 0.053237668711845855, |
| "vortex_apparent_frequency_hz": 3.675815871932663, |
| "vortex_approach_height_m": 0.23531545640663504, |
| "vortex_depart_height_m": 0.11430808696370232, |
| "vortex_frequency_hz": 33.67581587193266, |
| "vortex_phase_rad": 5.303827118821538, |
| "vortex_radius_m": 0.0005483495099959002, |
| "vortex_tilt_deg": 0.6910071213033204 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.075, |
| 0.0 |
| ], |
| "scene_id": "wrong_orientation/scene_000041", |
| "schema_version": 15, |
| "seed": 25670910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "8a7affdc0803fdd4d18316cca205272dfd4c43890e742ea5b5a8470d8c906b04", |
| "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": -116.98308837826498, |
| "mode": "upside_down", |
| "tilt_deg_from_z": 180.0 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": -116.98308837826498, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "upside_down", |
| "tilt_deg_from_z": 180.0, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 4.842279495708699, |
| 8.215559349736711 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.36, |
| 0.42, |
| 0.48 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "lean", |
| "approach_sway_m": 0.003300497822394997, |
| "depart_pattern": "hook", |
| "depart_sway_m": -0.006393164278571209, |
| "handling_noise_amplitude_m": 0.012624533450279012, |
| "handling_noise_frequency_hz": 2.5799580217742113, |
| "handling_noise_phase_xyz_rad": [ |
| 0.9811581389661111, |
| 2.3776989046251775, |
| 0.7025245065467681 |
| ], |
| "lift_height_m": 0.11626100208380352, |
| "orientation_noise_deg": 5.752653970549398, |
| "outbound_curve_bias": -0.5550311260063389, |
| "outbound_pattern": "late_swoop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 13.68434374729297, |
| 14.618571055702015 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.8691029647493962 |
| ], |
| "lift_from_rack": [ |
| 0.8691029647493962, |
| 1.8271442811259804 |
| ], |
| "lower_to_rack": [ |
| 13.06816044258333, |
| 13.68434374729297 |
| ], |
| "lower_to_vortex": [ |
| 3.765707601508446, |
| 4.842279495708699 |
| ], |
| "raise_from_vortex": [ |
| 8.215559349736711, |
| 9.65056200692764 |
| ], |
| "transfer_to_rack": [ |
| 9.65056200692764, |
| 13.06816044258333 |
| ], |
| "transfer_to_vortex": [ |
| 1.8271442811259804, |
| 3.765707601508446 |
| ], |
| "vortex": [ |
| 4.842279495708699, |
| 8.215559349736711 |
| ] |
| }, |
| "pick_line_azimuth_deg": -91.76541995383624, |
| "pick_line_tilt_deg": 10.159447924454868, |
| "pick_pattern": "lean", |
| "pick_sway_m": -0.008512946024354212, |
| "put_pattern": "straight", |
| "put_sway_m": -0.004197609504899452, |
| "rack_put_height_m": 0.33765173503519885, |
| "return_bend_scale": 1.5670847643228631, |
| "return_curve_bias": -0.6981115553099079, |
| "return_pattern": "wide_detour", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 0.5617872829896038, |
| "transfer_bend_m": 0.3176599060470677, |
| "transfer_side": -1.0, |
| "transport_tilt_deg": 2.834816911674567, |
| "vertical_arc_m": 0.053237668711845855, |
| "vortex_apparent_frequency_hz": 3.675815871932663, |
| "vortex_approach_height_m": 0.23531545640663504, |
| "vortex_depart_height_m": 0.11430808696370232, |
| "vortex_frequency_hz": 33.67581587193266, |
| "vortex_phase_rad": 5.303827118821538, |
| "vortex_radius_m": 0.0005483495099959002, |
| "vortex_tilt_deg": 0.6910071213033204 |
| }, |
| "trajectory_validation": { |
| "duration_s": 14.618571055702015, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 4.847302891456678e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.004806185864355536, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 0.0, |
| "wrong_orientation_max_tilt_deg": 180.0, |
| "wrong_orientation_min_tilt_deg": 179.30899287870096, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "transfer_to_rack", |
| "phase_fraction": 0.41999999999999993, |
| "release_time_s": 11.08595334990303, |
| "target_surface": "floor", |
| "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": [ |
| 0.6525422770364642, |
| 0.10827776827127225, |
| 0.8394 |
| ], |
| "tube_start_position": [ |
| 0.6094031419477126, |
| 0.13355651475511585, |
| 0.8394 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "0087877c55b1e43c3cb636bb0809d0db1f671d9d4d762b762b545c5b008a7713", |
| "video_validation": { |
| "actual_frame_count": 439, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 439, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 439, |
| "max_changed_pixel_fraction": 0.006670572916666667, |
| "mean_luminance": 143.10452270507812, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 73, |
| 146, |
| 219, |
| 292, |
| 365, |
| 438 |
| ], |
| "spatial_standard_deviation": 30.687978744506836, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| 0.07868250611867113, |
| 0.2904135634265259, |
| 1.0265 |
| ], |
| "vortex_id": "VTX-003", |
| "vortex_position": [ |
| 0.07676007713767197, |
| 0.23214492463332073, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -1.6930922555457926, |
| "wrong_orientation": { |
| "azimuth_deg": -116.98308837826498, |
| "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": [ |
| -0.29530866888931584, |
| 0.20654452586227334, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": 85.34484423733016, |
| "release_lateral_offset_m": 0.0151334340783152, |
| "release_phase_fraction": 0.6574889858645846, |
| "release_tilt_deg": 22.460936459900907, |
| "release_time_s": 13.47329417870356, |
| "slot_offset_xy": [ |
| 0.02, |
| -0.019 |
| ], |
| "tube_target_position": [ |
| -0.2689370946817595, |
| 0.21464020828041142, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": 60.59690943383805 |
| } |
| } |
|
|
