| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.6665734076818687, |
| 0.31768674165475264, |
| 0.7605558672840352 |
| ], |
| "cabinet_color_rgb": [ |
| 0.27262417593074073, |
| 0.3096445506576925, |
| 0.31753882520653337 |
| ], |
| "floor_color_rgb": [ |
| 0.22453835091183358, |
| 0.17103764959891388, |
| 0.29297567583748996 |
| ], |
| "screen_color_rgb": [ |
| 0.22234927514550473, |
| 0.7243122461522284, |
| 0.8960735090179028 |
| ], |
| "style": "instrument_bay", |
| "wall_color_rgb": [ |
| 0.33741514682269047, |
| 0.3988072321430433, |
| 0.4611529568026669 |
| ] |
| }, |
| "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": [ |
| [ |
| 0.0069431176558121255, |
| -0.9998646519461332, |
| 0.014915458620346878, |
| 0.3823153391987899 |
| ], |
| [ |
| -0.43151957629920296, |
| -0.016451368713684023, |
| -0.901953550765228, |
| 0.9426920936472298 |
| ], |
| [ |
| 0.9020768528167509, |
| -0.00017394276111992735, |
| -0.4315753947529237, |
| 2.4179538337905133 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "T_world_from_camera": [ |
| [ |
| 0.0069431176558121255, |
| -0.43151957629920296, |
| 0.9020768528167509, |
| -1.777044552192361 |
| ], |
| [ |
| -0.9998646519461332, |
| -0.016451368713684023, |
| -0.00017394276111992735, |
| 0.3981927543438413 |
| ], |
| [ |
| 0.014915458620346878, |
| -0.901953550765228, |
| -0.4315753947529237, |
| 1.8880914528341686 |
| ], |
| [ |
| 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": "left", |
| "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": [ |
| -1.777044552192361, |
| 0.3981927543438413, |
| 1.8880914528341686 |
| ], |
| "camera_focal_length_mm": 10.9140625, |
| "camera_orientation_xyzw": [ |
| 0.6031106617202228, |
| -0.5933339928706739, |
| 0.38010947643571985, |
| -0.3738035427163593 |
| ], |
| "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": [ |
| -1.7770445346832275, |
| 0.39819276332855225, |
| 1.8880914449691772 |
| ], |
| "actual_quaternion_xyzw": [ |
| -0.6031106114387512, |
| 0.5933340191841125, |
| -0.3801094889640808, |
| 0.3738035559654236 |
| ], |
| "valid": true |
| }, |
| "camera_target": [ |
| -0.8749676993756101, |
| 0.3980188115827214, |
| 1.4565160580812448 |
| ], |
| "camera_view": "left", |
| "distractors": [ |
| { |
| "asset_id": "TIP-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.19914896912328428, |
| -0.24468053355638655, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9885669770904951, |
| "yaw_deg": 164.0791206078174 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.6609632599935125, |
| 0.39447890872286717, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1313965873561371, |
| "yaw_deg": -42.214278100484734 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.4466462074620843, |
| 1.1354631059960876, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0160468688275823, |
| "yaw_deg": 64.74462091422237 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.2276243093650977, |
| 1.1444863933058613, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.171346135011392, |
| "yaw_deg": 40.96172714376948 |
| }, |
| { |
| "asset_id": "TIP-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5201101186051884, |
| 1.0471638026983896, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.846691492337353, |
| "yaw_deg": 120.81891942585747 |
| } |
| ], |
| "duration_s": 16.36134558319929, |
| "episode_id": 43, |
| "error_type": "wrong_orientation", |
| "frame_count": 491, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9738449699840297 |
| ], |
| "light_intensity": 2496.0776744832915, |
| "liquid": { |
| "color_rgb": [ |
| 0.022591295893988183, |
| 0.28176150448255705, |
| 0.2382533366864377 |
| ], |
| "fill_fraction": 0.5500125756714052, |
| "opacity": 0.8743066623246052, |
| "vortex_level_rise_fraction": 0.19015907073366892 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.5433482190252195, |
| "direction_azimuth_deg": -126.9249270417555, |
| "lateral_speed_mps": 0.04541297566007839, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.34660914155710465, |
| "release_clearance_m": 0.010402396625668935, |
| "release_tilt_deg": 123.05284356204704, |
| "stage": "pickup", |
| "tip_duration_s": 0.40911539953282894, |
| "trigger_time_s": 1.9648830332996885, |
| "tube_detach_fraction": 0.4733059559287175, |
| "tube_engagement_fraction": 0.5499230565713595, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.09732933533046104 |
| }, |
| "rack_id": "TR-004", |
| "rack_position": [ |
| -0.12109781420749977, |
| 0.25856393757827106, |
| 0.79 |
| ], |
| "rack_yaw_deg": -23.710382852488646, |
| "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": 5, |
| "placements": [ |
| { |
| "asset_id": "TIP-004", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.19914896912328428, |
| -0.24468053355638655, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9885669770904951, |
| "yaw_deg": 164.0791206078174 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.6609632599935125, |
| 0.39447890872286717, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1313965873561371, |
| "yaw_deg": -42.214278100484734 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.4466462074620843, |
| 1.1354631059960876, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0160468688275823, |
| "yaw_deg": 64.74462091422237 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.2276243093650977, |
| 1.1444863933058613, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.171346135011392, |
| "yaw_deg": 40.96172714376948 |
| }, |
| { |
| "asset_id": "TIP-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5201101186051884, |
| 1.0471638026983896, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.846691492337353, |
| "yaw_deg": 120.81891942585747 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.6665734076818687, |
| 0.31768674165475264, |
| 0.7605558672840352 |
| ], |
| "cabinet_color_rgb": [ |
| 0.27262417593074073, |
| 0.3096445506576925, |
| 0.31753882520653337 |
| ], |
| "floor_color_rgb": [ |
| 0.22453835091183358, |
| 0.17103764959891388, |
| 0.29297567583748996 |
| ], |
| "screen_color_rgb": [ |
| 0.22234927514550473, |
| 0.7243122461522284, |
| 0.8960735090179028 |
| ], |
| "style": "instrument_bay", |
| "wall_color_rgb": [ |
| 0.33741514682269047, |
| 0.3988072321430433, |
| 0.4611529568026669 |
| ] |
| }, |
| "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": [ |
| [ |
| 0.0069431176558121255, |
| -0.9998646519461332, |
| 0.014915458620346878, |
| 0.3823153391987899 |
| ], |
| [ |
| -0.43151957629920296, |
| -0.016451368713684023, |
| -0.901953550765228, |
| 0.9426920936472298 |
| ], |
| [ |
| 0.9020768528167509, |
| -0.00017394276111992735, |
| -0.4315753947529237, |
| 2.4179538337905133 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "T_world_from_camera": [ |
| [ |
| 0.0069431176558121255, |
| -0.43151957629920296, |
| 0.9020768528167509, |
| -1.777044552192361 |
| ], |
| [ |
| -0.9998646519461332, |
| -0.016451368713684023, |
| -0.00017394276111992735, |
| 0.3981927543438413 |
| ], |
| [ |
| 0.014915458620346878, |
| -0.901953550765228, |
| -0.4315753947529237, |
| 1.8880914528341686 |
| ], |
| [ |
| 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": "left", |
| "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" |
| }, |
| "camera_eye_m": [ |
| -1.777044552192361, |
| 0.3981927543438413, |
| 1.8880914528341686 |
| ], |
| "camera_focal_length_mm": 10.9140625, |
| "camera_target_m": [ |
| -0.8749676993756101, |
| 0.3980188115827214, |
| 1.4565160580812448 |
| ], |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9738449699840297 |
| ], |
| "light_intensity": 2496.0776744832915, |
| "table_color_rgb": [ |
| 0.16, |
| 0.42, |
| 0.46 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| -0.12109781420749977, |
| 0.25856393757827106, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -15.383637608213517, |
| "rack_to_vortex_distance_m": 0.5130452776875432, |
| "rack_yaw_deg": -23.710382852488646, |
| "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": [ |
| -0.18976704465907665, |
| 0.2887224652145504, |
| 0.8529 |
| ], |
| "tube_start_position_m": [ |
| -0.0982080707236408, |
| 0.2485110950328446, |
| 0.8529 |
| ], |
| "vortex_contact_position_m": [ |
| 0.4241639728731005, |
| 0.14737817166914355, |
| 1.0070000000000001 |
| ], |
| "vortex_position_m": [ |
| 0.37356566775897276, |
| 0.12246288480389483, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -63.78374402552167 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.022591295893988183, |
| 0.28176150448255705, |
| 0.2382533366864377 |
| ], |
| "effective_peak_level_fraction": 0.740171646405074, |
| "effective_vortex_level_rise_fraction": 0.19015907073366892, |
| "fill_fraction": 0.5500125756714052, |
| "opacity": 0.8743066623246052, |
| "present": true, |
| "vortex_level_rise_fraction": 0.19015907073366892 |
| }, |
| "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": 25690910, |
| "trajectory": { |
| "approach_pattern": "spiral", |
| "approach_sway_m": -0.00449101877688142, |
| "depart_pattern": "lean", |
| "depart_sway_m": -0.009770542465726, |
| "handling_noise_amplitude_m": 0.0011508916125084747, |
| "handling_noise_frequency_hz": 2.1180878730023425, |
| "handling_noise_phase_xyz_rad": [ |
| 5.918923709248963, |
| 4.137350769393473, |
| 2.8553691655692774 |
| ], |
| "lift_height_m": 0.10570327567746504, |
| "orientation_noise_deg": 0.3685181507564903, |
| "outbound_curve_bias": -0.04588052799147457, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.412665281197269, |
| 16.36134558319929 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.2762418964257298 |
| ], |
| "lift_from_rack": [ |
| 1.2762418964257298, |
| 3.2630363986720115 |
| ], |
| "lower_to_rack": [ |
| 14.04809238818875, |
| 15.412665281197269 |
| ], |
| "lower_to_vortex": [ |
| 6.398038633446005, |
| 7.773962386233796 |
| ], |
| "raise_from_vortex": [ |
| 11.261684756264756, |
| 12.058046646356143 |
| ], |
| "transfer_to_rack": [ |
| 12.058046646356143, |
| 14.04809238818875 |
| ], |
| "transfer_to_vortex": [ |
| 3.2630363986720115, |
| 6.398038633446005 |
| ], |
| "vortex": [ |
| 7.773962386233796, |
| 11.261684756264756 |
| ] |
| }, |
| "pick_line_azimuth_deg": 110.43528396721155, |
| "pick_line_tilt_deg": 4.077949157388865, |
| "pick_pattern": "lean", |
| "pick_sway_m": 0.008766872533538389, |
| "put_pattern": "hook", |
| "put_sway_m": 0.0042702197893132125, |
| "rack_put_height_m": 0.26798260987200917, |
| "return_bend_scale": 1.2992797652162302, |
| "return_curve_bias": -0.20030074074161408, |
| "return_pattern": "crescent", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.1522490727698447, |
| "transfer_bend_m": 0.31902654278177056, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 17.86342583598685, |
| "vertical_arc_m": 0.06663390339816078, |
| "vortex_apparent_frequency_hz": 3.6409709116497453, |
| "vortex_approach_height_m": 0.3579869428701861, |
| "vortex_depart_height_m": 0.16188204266760664, |
| "vortex_frequency_hz": 33.640970911649745, |
| "vortex_phase_rad": 0.31740429485031935, |
| "vortex_radius_m": 0.0005724107616798914, |
| "vortex_tilt_deg": 0.8301388250417104 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| -0.075, |
| 0.0 |
| ], |
| "scene_id": "wrong_orientation/scene_000043", |
| "schema_version": 15, |
| "seed": 25690910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "420a41b6c4f17a30629355ecbf0f90014ecefb4ae712c2d32ab90b325590cacb", |
| "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": 118.5618528630119, |
| "mode": "upside_down", |
| "tilt_deg_from_z": 180.0 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": 118.5618528630119, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "upside_down", |
| "tilt_deg_from_z": 180.0, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 7.773962386233796, |
| 11.261684756264756 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.16, |
| 0.42, |
| 0.46 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "spiral", |
| "approach_sway_m": -0.00449101877688142, |
| "depart_pattern": "lean", |
| "depart_sway_m": -0.009770542465726, |
| "handling_noise_amplitude_m": 0.0011508916125084747, |
| "handling_noise_frequency_hz": 2.1180878730023425, |
| "handling_noise_phase_xyz_rad": [ |
| 5.918923709248963, |
| 4.137350769393473, |
| 2.8553691655692774 |
| ], |
| "lift_height_m": 0.10570327567746504, |
| "orientation_noise_deg": 0.3685181507564903, |
| "outbound_curve_bias": -0.04588052799147457, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 15.412665281197269, |
| 16.36134558319929 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.2762418964257298 |
| ], |
| "lift_from_rack": [ |
| 1.2762418964257298, |
| 3.2630363986720115 |
| ], |
| "lower_to_rack": [ |
| 14.04809238818875, |
| 15.412665281197269 |
| ], |
| "lower_to_vortex": [ |
| 6.398038633446005, |
| 7.773962386233796 |
| ], |
| "raise_from_vortex": [ |
| 11.261684756264756, |
| 12.058046646356143 |
| ], |
| "transfer_to_rack": [ |
| 12.058046646356143, |
| 14.04809238818875 |
| ], |
| "transfer_to_vortex": [ |
| 3.2630363986720115, |
| 6.398038633446005 |
| ], |
| "vortex": [ |
| 7.773962386233796, |
| 11.261684756264756 |
| ] |
| }, |
| "pick_line_azimuth_deg": 110.43528396721155, |
| "pick_line_tilt_deg": 4.077949157388865, |
| "pick_pattern": "lean", |
| "pick_sway_m": 0.008766872533538389, |
| "put_pattern": "hook", |
| "put_sway_m": 0.0042702197893132125, |
| "rack_put_height_m": 0.26798260987200917, |
| "return_bend_scale": 1.2992797652162302, |
| "return_curve_bias": -0.20030074074161408, |
| "return_pattern": "crescent", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.1522490727698447, |
| "transfer_bend_m": 0.31902654278177056, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 17.86342583598685, |
| "vertical_arc_m": 0.06663390339816078, |
| "vortex_apparent_frequency_hz": 3.6409709116497453, |
| "vortex_approach_height_m": 0.3579869428701861, |
| "vortex_depart_height_m": 0.16188204266760664, |
| "vortex_frequency_hz": 33.640970911649745, |
| "vortex_phase_rad": 0.31740429485031935, |
| "vortex_radius_m": 0.0005724107616798914, |
| "vortex_tilt_deg": 0.8301388250417104 |
| }, |
| "trajectory_validation": { |
| "duration_s": 16.36134558319929, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 4.379755957367587e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.005781191579539569, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 0.0, |
| "wrong_orientation_max_tilt_deg": 180.0, |
| "wrong_orientation_min_tilt_deg": 179.16986122088264, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "transfer_to_vortex", |
| "phase_fraction": 0.35564928253268446, |
| "release_time_s": 4.377997694207744, |
| "target_surface": "floor", |
| "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": [ |
| -0.18976704465907665, |
| 0.2887224652145504, |
| 0.8529 |
| ], |
| "tube_start_position": [ |
| -0.0982080707236408, |
| 0.2485110950328446, |
| 0.8529 |
| ], |
| "video": "left.mp4", |
| "video_sha256": "3fc2275bc0f1d5060411c40e815db99cb18c2af06bee701c74ef95feb1d9523e", |
| "video_validation": { |
| "actual_frame_count": 491, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 491, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 491, |
| "max_changed_pixel_fraction": 0.0045386284722222225, |
| "mean_luminance": 105.40837097167969, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 82, |
| 163, |
| 245, |
| 327, |
| 408, |
| 490 |
| ], |
| "spatial_standard_deviation": 32.05956268310547, |
| "valid": true |
| }, |
| "view_index": 0, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| 0.4241639728731005, |
| 0.14737817166914355, |
| 1.0070000000000001 |
| ], |
| "vortex_id": "VTX-001", |
| "vortex_position": [ |
| 0.37356566775897276, |
| 0.12246288480389483, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -63.78374402552167, |
| "wrong_orientation": { |
| "azimuth_deg": 118.5618528630119, |
| "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": [ |
| -0.5953097173011606, |
| -0.3157648511802292, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -45.54261242147595, |
| "release_lateral_offset_m": 0.01655538151349719, |
| "release_phase_fraction": 0.6412668754875847, |
| "release_tilt_deg": 26.906908771597557, |
| "release_time_s": 14.923147783663376, |
| "slot_offset_xy": [ |
| -0.02, |
| -0.019 |
| ], |
| "tube_target_position": [ |
| -0.5989978521922914, |
| -0.3431034257777612, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": 38.785648287756146 |
| } |
| } |
|
|
