| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.2125469850281117, |
| 0.5360893371517327, |
| 0.666988009978778 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6983324975094454, |
| 0.7895089751808383, |
| 0.7777401771534652 |
| ], |
| "floor_color_rgb": [ |
| 0.28661994232780796, |
| 0.3774920329329227, |
| 0.4177660024003156 |
| ], |
| "screen_color_rgb": [ |
| 0.5162114848461893, |
| 0.7706727690926822, |
| 0.8783705301853437 |
| ], |
| "style": "clean_room", |
| "wall_color_rgb": [ |
| 0.8204101460668666, |
| 0.8338183598383095, |
| 0.8360070170777898 |
| ] |
| }, |
| "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-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.30749846604024444, |
| -0.28905896523708735, |
| 0.7986709260983915 |
| ], |
| "roll_deg": 88.38012348860589, |
| "surface": "main_table", |
| "uniform_scale": 0.8979039668562039, |
| "yaw_deg": 32.77884630224912 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.23660723205325473, |
| 0.20728442193646268, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9767837756510586, |
| "yaw_deg": 82.59991255547021 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": -86.80166279400336, |
| "position": [ |
| 0.5901427873240712, |
| 0.10368403104241908, |
| 0.8198082416973835 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0485954095664942, |
| "yaw_deg": -87.02770953472768 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5638601676858971, |
| -0.2965235743475412, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9598762823772345, |
| "yaw_deg": 165.2916355958497 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.3876561080048726, |
| 1.2930591911055447, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.7990837333459256, |
| "yaw_deg": -116.69015687556585 |
| }, |
| { |
| "asset_id": "PIP-018", |
| "pitch_deg": -89.19051782233217, |
| "position": [ |
| -0.6631246889952112, |
| 1.1886374197129395, |
| 0.8723055402575793 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0517117045931916, |
| "yaw_deg": 50.38514360155432 |
| }, |
| { |
| "asset_id": "TIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.1927768391507212, |
| 0.43448943710994986, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9624575209169801, |
| "yaw_deg": 83.1331284880884 |
| } |
| ], |
| "duration_s": 15.556116542460924, |
| "episode_id": 48, |
| "error_type": "wrong_orientation", |
| "frame_count": 467, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.9800875723316944, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2576.114699835964, |
| "liquid": { |
| "color_rgb": [ |
| 0.05811374549132491, |
| 0.23275843962719728, |
| 0.38324886403053227 |
| ], |
| "fill_fraction": 0.40017910430417963, |
| "opacity": 0.8291897831944718, |
| "vortex_level_rise_fraction": 0.19458838263610434 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.4518844992092483, |
| "direction_azimuth_deg": 149.2437724321477, |
| "lateral_speed_mps": 0.029660094253136864, |
| "phase": "lift_from_rack", |
| "phase_fraction": 0.22683615795908985, |
| "release_clearance_m": 0.005282482058369216, |
| "release_tilt_deg": 124.42506022405693, |
| "stage": "pickup", |
| "tip_duration_s": 0.4040431861037018, |
| "trigger_time_s": 1.2138604792349832, |
| "tube_detach_fraction": 0.5173704854134735, |
| "tube_engagement_fraction": 0.6780973224745607, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.09372721943208381 |
| }, |
| "rack_id": "TR-002", |
| "rack_position": [ |
| -0.07304698429308487, |
| -0.11321308859884699, |
| 0.79 |
| ], |
| "rack_yaw_deg": -35.76052933567614, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-002", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-005", |
| "vortex_id": "VTX-001" |
| }, |
| "distractors": { |
| "count": 7, |
| "placements": [ |
| { |
| "asset_id": "PIP-001", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.30749846604024444, |
| -0.28905896523708735, |
| 0.7986709260983915 |
| ], |
| "roll_deg": 88.38012348860589, |
| "surface": "main_table", |
| "uniform_scale": 0.8979039668562039, |
| "yaw_deg": 32.77884630224912 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.23660723205325473, |
| 0.20728442193646268, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9767837756510586, |
| "yaw_deg": 82.59991255547021 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": -86.80166279400336, |
| "position": [ |
| 0.5901427873240712, |
| 0.10368403104241908, |
| 0.8198082416973835 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0485954095664942, |
| "yaw_deg": -87.02770953472768 |
| }, |
| { |
| "asset_id": "TIP-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5638601676858971, |
| -0.2965235743475412, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9598762823772345, |
| "yaw_deg": 165.2916355958497 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.3876561080048726, |
| 1.2930591911055447, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.7990837333459256, |
| "yaw_deg": -116.69015687556585 |
| }, |
| { |
| "asset_id": "PIP-018", |
| "pitch_deg": -89.19051782233217, |
| "position": [ |
| -0.6631246889952112, |
| 1.1886374197129395, |
| 0.8723055402575793 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0517117045931916, |
| "yaw_deg": 50.38514360155432 |
| }, |
| { |
| "asset_id": "TIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.1927768391507212, |
| 0.43448943710994986, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9624575209169801, |
| "yaw_deg": 83.1331284880884 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.2125469850281117, |
| 0.5360893371517327, |
| 0.666988009978778 |
| ], |
| "cabinet_color_rgb": [ |
| 0.6983324975094454, |
| 0.7895089751808383, |
| 0.7777401771534652 |
| ], |
| "floor_color_rgb": [ |
| 0.28661994232780796, |
| 0.3774920329329227, |
| 0.4177660024003156 |
| ], |
| "screen_color_rgb": [ |
| 0.5162114848461893, |
| 0.7706727690926822, |
| 0.8783705301853437 |
| ], |
| "style": "clean_room", |
| "wall_color_rgb": [ |
| 0.8204101460668666, |
| 0.8338183598383095, |
| 0.8360070170777898 |
| ] |
| }, |
| "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": [ |
| 0.9800875723316944, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2576.114699835964, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| -0.07304698429308487, |
| -0.11321308859884699, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": 149.98330580540642, |
| "rack_to_vortex_distance_m": 0.47472281790368526, |
| "rack_yaw_deg": -35.76052933567614, |
| "return_slot_offset_xy_m": [ |
| 0.068, |
| 0.034 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| -0.068, |
| 0.0 |
| ], |
| "tube_return_position_m": [ |
| 0.0020023036919520065, |
| -0.12536234260635715, |
| 0.8152000000000001 |
| ], |
| "tube_start_position_m": [ |
| -0.12822671307811032, |
| -0.07347397019882412, |
| 0.8152000000000001 |
| ], |
| "vortex_contact_position_m": [ |
| -0.4669174976546328, |
| 0.1779870666042013, |
| 1.0070000000000001 |
| ], |
| "vortex_position_m": [ |
| -0.4840998272274958, |
| 0.12426809834857006, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -17.73718251904848 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.05811374549132491, |
| 0.23275843962719728, |
| 0.38324886403053227 |
| ], |
| "effective_peak_level_fraction": 0.5947674869402839, |
| "effective_vortex_level_rise_fraction": 0.19458838263610434, |
| "fill_fraction": 0.40017910430417963, |
| "opacity": 0.8291897831944718, |
| "present": true, |
| "vortex_level_rise_fraction": 0.19458838263610434 |
| }, |
| "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": 25740910, |
| "trajectory": { |
| "approach_pattern": "spiral", |
| "approach_sway_m": -0.01084777191597703, |
| "depart_pattern": "lean", |
| "depart_sway_m": 0.010149533640806391, |
| "handling_noise_amplitude_m": 0.014735859998596723, |
| "handling_noise_frequency_hz": 2.792413905709448, |
| "handling_noise_phase_xyz_rad": [ |
| 3.0100269364906636, |
| 3.304106435481953, |
| 1.9316751115473079 |
| ], |
| "lift_height_m": 0.13897246031877808, |
| "orientation_noise_deg": 3.520640665559905, |
| "outbound_curve_bias": -0.5922266461401023, |
| "outbound_pattern": "crescent", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 14.351436423292709, |
| 15.556116542460924 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.9348247378866745 |
| ], |
| "lift_from_rack": [ |
| 0.9348247378866745, |
| 2.1649449438488695 |
| ], |
| "lower_to_rack": [ |
| 13.249391262227611, |
| 14.351436423292709 |
| ], |
| "lower_to_vortex": [ |
| 5.270045598149969, |
| 6.360489535475736 |
| ], |
| "raise_from_vortex": [ |
| 9.51263871365689, |
| 10.657295387310366 |
| ], |
| "transfer_to_rack": [ |
| 10.657295387310366, |
| 13.249391262227611 |
| ], |
| "transfer_to_vortex": [ |
| 2.1649449438488695, |
| 5.270045598149969 |
| ], |
| "vortex": [ |
| 6.360489535475736, |
| 9.51263871365689 |
| ] |
| }, |
| "pick_line_azimuth_deg": 110.04638948986099, |
| "pick_line_tilt_deg": 9.676020441300778, |
| "pick_pattern": "lean", |
| "pick_sway_m": -0.008128801113188826, |
| "put_pattern": "straight", |
| "put_sway_m": 0.006491628195060915, |
| "rack_put_height_m": 0.3387700870242218, |
| "return_bend_scale": 0.5884098072199898, |
| "return_curve_bias": -0.24514261605081328, |
| "return_pattern": "double_s", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.1402404336337686, |
| "transfer_bend_m": 0.22070564615690275, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 9.488212365098642, |
| "vertical_arc_m": 0.3199056507739224, |
| "vortex_apparent_frequency_hz": 8.081767726658711, |
| "vortex_approach_height_m": 0.19801092189609992, |
| "vortex_depart_height_m": 0.3501318056599187, |
| "vortex_frequency_hz": 38.08176772665871, |
| "vortex_phase_rad": 2.408869314805665, |
| "vortex_radius_m": 0.0002829293702606976, |
| "vortex_tilt_deg": 0.8285129300934577 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.068, |
| 0.034 |
| ], |
| "scene_id": "wrong_orientation/scene_000048", |
| "schema_version": 15, |
| "seed": 25740910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "834b0466fcd4dadf8e3b603b3efa03a6f4c8be11b6ad7076d8791062c80ac1aa", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| -0.068, |
| 0.0 |
| ], |
| "subtype_event": { |
| "category": "wrong_orientation", |
| "event_phase": "vortex", |
| "is_failure": true, |
| "randomized_parameters": { |
| "azimuth_deg": 119.61679091385429, |
| "mode": "tilted", |
| "tilt_deg_from_z": 48.25177796447721 |
| }, |
| "realized_outcome": { |
| "azimuth_deg": 119.61679091385429, |
| "liquid_level_rise_enabled": true, |
| "orientation_mode": "tilted", |
| "tilt_deg_from_z": 48.25177796447721, |
| "vortex_motion_enabled": true |
| }, |
| "time_window_s": [ |
| 6.360489535475736, |
| 9.51263871365689 |
| ] |
| }, |
| "table_color_rgb": [ |
| 0.26, |
| 0.32, |
| 0.42 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "spiral", |
| "approach_sway_m": -0.01084777191597703, |
| "depart_pattern": "lean", |
| "depart_sway_m": 0.010149533640806391, |
| "handling_noise_amplitude_m": 0.014735859998596723, |
| "handling_noise_frequency_hz": 2.792413905709448, |
| "handling_noise_phase_xyz_rad": [ |
| 3.0100269364906636, |
| 3.304106435481953, |
| 1.9316751115473079 |
| ], |
| "lift_height_m": 0.13897246031877808, |
| "orientation_noise_deg": 3.520640665559905, |
| "outbound_curve_bias": -0.5922266461401023, |
| "outbound_pattern": "crescent", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 14.351436423292709, |
| 15.556116542460924 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 0.9348247378866745 |
| ], |
| "lift_from_rack": [ |
| 0.9348247378866745, |
| 2.1649449438488695 |
| ], |
| "lower_to_rack": [ |
| 13.249391262227611, |
| 14.351436423292709 |
| ], |
| "lower_to_vortex": [ |
| 5.270045598149969, |
| 6.360489535475736 |
| ], |
| "raise_from_vortex": [ |
| 9.51263871365689, |
| 10.657295387310366 |
| ], |
| "transfer_to_rack": [ |
| 10.657295387310366, |
| 13.249391262227611 |
| ], |
| "transfer_to_vortex": [ |
| 2.1649449438488695, |
| 5.270045598149969 |
| ], |
| "vortex": [ |
| 6.360489535475736, |
| 9.51263871365689 |
| ] |
| }, |
| "pick_line_azimuth_deg": 110.04638948986099, |
| "pick_line_tilt_deg": 9.676020441300778, |
| "pick_pattern": "lean", |
| "pick_sway_m": -0.008128801113188826, |
| "put_pattern": "straight", |
| "put_sway_m": 0.006491628195060915, |
| "rack_put_height_m": 0.3387700870242218, |
| "return_bend_scale": 0.5884098072199898, |
| "return_curve_bias": -0.24514261605081328, |
| "return_pattern": "double_s", |
| "return_side": 1.0, |
| "return_vertical_arc_scale": 1.1402404336337686, |
| "transfer_bend_m": 0.22070564615690275, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 9.488212365098642, |
| "vertical_arc_m": 0.3199056507739224, |
| "vortex_apparent_frequency_hz": 8.081767726658711, |
| "vortex_approach_height_m": 0.19801092189609992, |
| "vortex_depart_height_m": 0.3501318056599187, |
| "vortex_frequency_hz": 38.08176772665871, |
| "vortex_phase_rad": 2.408869314805665, |
| "vortex_radius_m": 0.0002829293702606976, |
| "vortex_tilt_deg": 0.8285129300934577 |
| }, |
| "trajectory_validation": { |
| "duration_s": 15.556116542460924, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 6.618147680055855e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.003388694348706316, |
| "valid": true, |
| "wrong_orientation_contact_error_m": 0.0, |
| "wrong_orientation_max_tilt_deg": 49.08026607933229, |
| "wrong_orientation_min_tilt_deg": 47.42348055989377, |
| "wrong_orientation_valid": true |
| }, |
| "tube_cap_present": true, |
| "tube_drop": { |
| "phase": "transfer_to_vortex", |
| "phase_fraction": 0.6086567642044978, |
| "release_time_s": 4.054885460625046, |
| "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": [ |
| 0.0020023036919520065, |
| -0.12536234260635715, |
| 0.8152000000000001 |
| ], |
| "tube_start_position": [ |
| -0.12822671307811032, |
| -0.07347397019882412, |
| 0.8152000000000001 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "c0901869cf96a2d76b373e7b2c51f2f7fb3f6fd47d41f919c4070ad814c04835", |
| "video_validation": { |
| "actual_frame_count": 467, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 467, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 467, |
| "max_changed_pixel_fraction": 0.010680555555555556, |
| "mean_luminance": 152.17933654785156, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 78, |
| 155, |
| 233, |
| 311, |
| 388, |
| 466 |
| ], |
| "spatial_standard_deviation": 31.667327880859375, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| -0.4669174976546328, |
| 0.1779870666042013, |
| 1.0070000000000001 |
| ], |
| "vortex_id": "VTX-001", |
| "vortex_position": [ |
| -0.4840998272274958, |
| 0.12426809834857006, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -17.73718251904848, |
| "wrong_orientation": { |
| "azimuth_deg": 119.61679091385429, |
| "mode": "tilted", |
| "tilt_deg_from_z": 48.25177796447721 |
| }, |
| "wrong_rack": { |
| "hole_relation": "too_small", |
| "insertion_depth_m": 0.0, |
| "insertion_succeeds": false, |
| "placement_outcome": "physx_drop_pending", |
| "position": [ |
| 0.5006384293368068, |
| 0.34311014974760135, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -168.20087113967898, |
| "release_lateral_offset_m": 0.014974362175241137, |
| "release_phase_fraction": 0.6833595606787312, |
| "release_tilt_deg": 27.31791825601048, |
| "release_time_s": 14.002484359341178, |
| "slot_offset_xy": [ |
| -0.04, |
| 0.0 |
| ], |
| "tube_target_position": [ |
| 0.48222082490417567, |
| 0.3076025189203675, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": 62.58448930497107 |
| } |
| } |
|
|
