xspcz's picture
Add files using upload-large-folder tool
7c4d8e0 verified
Raw History Blame Contribute Delete
28.2 kB
{
"background": {
"accent_color_rgb": [
0.8578367456883423,
0.5668506210443792,
0.21786637921707022
],
"cabinet_color_rgb": [
0.5444836628769226,
0.5732045439077013,
0.5406811679023842
],
"floor_color_rgb": [
0.28011725867542875,
0.3329831774637169,
0.3075049587089056
],
"screen_color_rgb": [
0.3512303551342263,
0.7093513107331348,
0.6797264340403287
],
"style": "wet_lab",
"wall_color_rgb": [
0.7352535798120242,
0.777715874718532,
0.7219833921323375
]
},
"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-017",
"pitch_deg": -91.34649655815474,
"position": [
0.5654192927436644,
1.1344890866134671,
0.8613299817696318
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1030404926523016,
"yaw_deg": 119.9851977376619
},
{
"asset_id": "PIP-001",
"pitch_deg": 0.0,
"position": [
-0.15242196015466847,
1.0551660084847527,
0.8405947150659282
],
"roll_deg": 86.75439912066726,
"surface": "rear_bench",
"uniform_scale": 1.1093093479042055,
"yaw_deg": -73.07590659496529
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.11744275485779898,
1.1490824282076633,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0314096586506931,
"yaw_deg": -103.97889565077655
},
{
"asset_id": "PIP-007",
"pitch_deg": 0.0,
"position": [
-0.5188853104035919,
0.19955205808131643,
0.799088631116109
],
"roll_deg": -89.71062907018607,
"surface": "main_table",
"uniform_scale": 0.9438056171548255,
"yaw_deg": 109.14210946748233
},
{
"asset_id": "TIP-002",
"pitch_deg": 0.0,
"position": [
-0.7420385825638842,
1.1477569309630946,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9555830678476462,
"yaw_deg": -51.94370110543247
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
-0.36452973233869246,
1.1399920782377517,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.152177540799519,
"yaw_deg": 166.8814958863116
}
],
"duration_s": 16.993594037381584,
"episode_id": 11,
"error_type": "wrong_rack",
"frame_count": 510,
"generation_success": true,
"light_color_rgb": [
0.9826924842817083,
0.92,
0.92
],
"light_intensity": 1784.4612108974968,
"liquid": {
"color_rgb": [
0.3923719955151675,
0.2282202006838883,
0.04263213984016421
],
"fill_fraction": 0.4371815806885691,
"opacity": 0.8355796365237143,
"vortex_level_rise_fraction": 0.21695536854826417
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.1378994151690485,
"direction_azimuth_deg": 47.85465082229658,
"lateral_speed_mps": 0.07568418397227274,
"phase": "lift_from_rack",
"phase_fraction": 0.35005748709650497,
"release_clearance_m": 0.006296918147368513,
"release_tilt_deg": 140.77640719055603,
"stage": "pickup",
"tip_duration_s": 0.31309840951997986,
"trigger_time_s": 1.552096866414141,
"tube_detach_fraction": 0.44463271346206107,
"tube_engagement_fraction": 0.5610291064498629,
"tube_on_rack": true,
"upward_speed_mps": 0.05387560617767344
},
"rack_id": "TR-004",
"rack_position": [
0.26455755439158457,
-0.2578006284994275,
0.79
],
"rack_yaw_deg": -3.01074698018995,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-005"
},
"distractors": {
"count": 6,
"placements": [
{
"asset_id": "PIP-017",
"pitch_deg": -91.34649655815474,
"position": [
0.5654192927436644,
1.1344890866134671,
0.8613299817696318
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1030404926523016,
"yaw_deg": 119.9851977376619
},
{
"asset_id": "PIP-001",
"pitch_deg": 0.0,
"position": [
-0.15242196015466847,
1.0551660084847527,
0.8405947150659282
],
"roll_deg": 86.75439912066726,
"surface": "rear_bench",
"uniform_scale": 1.1093093479042055,
"yaw_deg": -73.07590659496529
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
0.11744275485779898,
1.1490824282076633,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0314096586506931,
"yaw_deg": -103.97889565077655
},
{
"asset_id": "PIP-007",
"pitch_deg": 0.0,
"position": [
-0.5188853104035919,
0.19955205808131643,
0.799088631116109
],
"roll_deg": -89.71062907018607,
"surface": "main_table",
"uniform_scale": 0.9438056171548255,
"yaw_deg": 109.14210946748233
},
{
"asset_id": "TIP-002",
"pitch_deg": 0.0,
"position": [
-0.7420385825638842,
1.1477569309630946,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9555830678476462,
"yaw_deg": -51.94370110543247
},
{
"asset_id": "SBI-005",
"pitch_deg": 0.0,
"position": [
-0.36452973233869246,
1.1399920782377517,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.152177540799519,
"yaw_deg": 166.8814958863116
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.8578367456883423,
0.5668506210443792,
0.21786637921707022
],
"cabinet_color_rgb": [
0.5444836628769226,
0.5732045439077013,
0.5406811679023842
],
"floor_color_rgb": [
0.28011725867542875,
0.3329831774637169,
0.3075049587089056
],
"screen_color_rgb": [
0.3512303551342263,
0.7093513107331348,
0.6797264340403287
],
"style": "wet_lab",
"wall_color_rgb": [
0.7352535798120242,
0.777715874718532,
0.7219833921323375
]
},
"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": [
0.9826924842817083,
0.92,
0.92
],
"light_intensity": 1784.4612108974968,
"table_color_rgb": [
0.5,
0.46,
0.38
]
},
"layout": {
"rack_position_m": [
0.26455755439158457,
-0.2578006284994275,
0.79
],
"rack_to_vortex_bearing_deg": 123.36720344233849,
"rack_to_vortex_distance_m": 0.5470656051755938,
"rack_yaw_deg": -3.01074698018995,
"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": [
0.18966107685241584,
-0.25386138336554814,
0.8529
],
"tube_start_position_m": [
0.2895230469046408,
-0.2591137102107206,
0.8529
],
"vortex_contact_position_m": [
-0.000580924700640903,
0.21412485798119496,
0.9580000000000001
],
"vortex_position_m": [
-0.036330047330134174,
0.19908822833152107,
0.79
],
"vortex_yaw_deg": -58.138200185025426
},
"liquid": {
"color_rgb": [
0.3923719955151675,
0.2282202006838883,
0.04263213984016421
],
"effective_peak_level_fraction": 0.6541369492368333,
"effective_vortex_level_rise_fraction": 0.21695536854826417,
"fill_fraction": 0.4371815806885691,
"opacity": 0.8355796365237143,
"present": true,
"vortex_level_rise_fraction": 0.21695536854826417
},
"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": 26370909,
"trajectory": {
"approach_pattern": "straight",
"approach_sway_m": -0.008978654030346901,
"depart_pattern": "straight",
"depart_sway_m": -0.009006900509992269,
"handling_noise_amplitude_m": 0.011665686819401201,
"handling_noise_frequency_hz": 2.483860814127505,
"handling_noise_phase_xyz_rad": [
3.702507865159567,
6.179604296962034,
3.763878815169849
],
"lift_height_m": 0.10075901197317302,
"orientation_noise_deg": 4.316786998876443,
"outbound_curve_bias": -0.6807617151779259,
"outbound_pattern": "late_swoop",
"phase_boundaries_s": {
"final_hold": [
15.982808708608454,
16.993594037381584
],
"initial_hold": [
0.0,
1.1271175147048882
],
"lift_from_rack": [
1.1271175147048882,
2.3411448312870164
],
"lower_to_rack": [
14.385233098202908,
15.982808708608454
],
"lower_to_vortex": [
5.350900124190459,
6.725791392694427
],
"raise_from_vortex": [
10.328367689501746,
11.077158594668587
],
"transfer_to_rack": [
11.077158594668587,
14.385233098202908
],
"transfer_to_vortex": [
2.3411448312870164,
5.350900124190459
],
"vortex": [
6.725791392694427,
10.328367689501746
]
},
"pick_line_azimuth_deg": 111.86415599456484,
"pick_line_tilt_deg": 8.18541063718656,
"pick_pattern": "lean",
"pick_sway_m": -0.0065325860774093514,
"put_pattern": "hook",
"put_sway_m": 0.005393161565071983,
"rack_put_height_m": 0.28369014188127983,
"return_bend_scale": 0.49360152453617046,
"return_curve_bias": -0.29072478826466236,
"return_pattern": "double_s",
"return_side": 1.0,
"return_vertical_arc_scale": 1.5843768021609639,
"transfer_bend_m": 0.14395183161556968,
"transfer_side": -1.0,
"transport_tilt_deg": 15.504169356727562,
"vertical_arc_m": 0.30911334409303487,
"vortex_apparent_frequency_hz": 7.625432175237144,
"vortex_approach_height_m": 0.306937617481904,
"vortex_depart_height_m": 0.2910666620726376,
"vortex_frequency_hz": 22.374567824762856,
"vortex_phase_rad": 4.737775424256049,
"vortex_radius_m": 0.0007247913844906001,
"vortex_tilt_deg": 0.6605968777067364
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
-0.075,
0.0
],
"scene_id": "wrong_rack/scene_000011",
"schema_version": 15,
"seed": 26370909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "18aace3c01fa0a8e9a85685f111ace147cf4f26fd2684bbf6010c727e5e35601",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
0.025,
0.0
],
"subtype_event": {
"category": "wrong_rack",
"event_phase": "lower_to_rack",
"event_time_s": 15.459772549310514,
"is_failure": true,
"randomized_parameters": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.5000224941142546,
-0.031752785985155796,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -124.88097577286372,
"release_lateral_offset_m": 0.021910478647365707,
"release_phase_fraction": 0.6726063192932907,
"release_tilt_deg": 31.78828638391348,
"release_time_s": 15.459772549310514,
"slot_offset_xy": [
0.02,
0.019
],
"tube_target_position": [
-0.4976036537381362,
-0.004272807614806605,
0.8500000000000001
],
"yaw_deg": 41.43848103145662
},
"realized_outcome": {
"fall_distance_m": 0.10089706555199496,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 324.39459228515625,
"final_linear_speed_mps": 0.10983778536319733,
"final_linear_velocity_mps": [
-0.08055205643177032,
0.0746685117483139,
0.0005641436437144876
],
"final_position_m": [
-0.5920568704605103,
0.039818599820137024,
0.8085986971855164
],
"final_protected_visual_minimum_z_m": 0.7902499472430621,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 89.99546224735025,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.6886929273605347,
"first_impact_position_m": [
-0.52253258228302,
-0.03741633519530296,
0.8687800168991089
],
"first_impact_time_s": 15.708333333333334,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8059675097465515,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": false,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": -124.88097577286372,
"planned_release_lateral_offset_m": 0.021910478647365707,
"planned_release_tilt_deg": 31.78828638391348,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05686457529854638,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.6726063192932907,
"release_position_m": [
-0.5011363936244184,
-0.005647011144417622,
0.9068645752985465
],
"release_time_s": 15.459772549310514,
"support_clearance_m": 0.0002499472430620431,
"support_surface_z_m": 0.79,
"target_body": "wrong_rack",
"tube_root_below_rack_top": true,
"valid": true,
"visual_surface_nonpenetration_valid": true,
"wrong_rack_id": "TR-003"
}
},
"table_color_rgb": [
0.5,
0.46,
0.38
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "straight",
"approach_sway_m": -0.008978654030346901,
"depart_pattern": "straight",
"depart_sway_m": -0.009006900509992269,
"handling_noise_amplitude_m": 0.011665686819401201,
"handling_noise_frequency_hz": 2.483860814127505,
"handling_noise_phase_xyz_rad": [
3.702507865159567,
6.179604296962034,
3.763878815169849
],
"lift_height_m": 0.10075901197317302,
"orientation_noise_deg": 4.316786998876443,
"outbound_curve_bias": -0.6807617151779259,
"outbound_pattern": "late_swoop",
"phase_boundaries_s": {
"final_hold": [
15.982808708608454,
16.993594037381584
],
"initial_hold": [
0.0,
1.1271175147048882
],
"lift_from_rack": [
1.1271175147048882,
2.3411448312870164
],
"lower_to_rack": [
14.385233098202908,
15.982808708608454
],
"lower_to_vortex": [
5.350900124190459,
6.725791392694427
],
"raise_from_vortex": [
10.328367689501746,
11.077158594668587
],
"transfer_to_rack": [
11.077158594668587,
14.385233098202908
],
"transfer_to_vortex": [
2.3411448312870164,
5.350900124190459
],
"vortex": [
6.725791392694427,
10.328367689501746
]
},
"pick_line_azimuth_deg": 111.86415599456484,
"pick_line_tilt_deg": 8.18541063718656,
"pick_pattern": "lean",
"pick_sway_m": -0.0065325860774093514,
"put_pattern": "hook",
"put_sway_m": 0.005393161565071983,
"rack_put_height_m": 0.28369014188127983,
"return_bend_scale": 0.49360152453617046,
"return_curve_bias": -0.29072478826466236,
"return_pattern": "double_s",
"return_side": 1.0,
"return_vertical_arc_scale": 1.5843768021609639,
"transfer_bend_m": 0.14395183161556968,
"transfer_side": -1.0,
"transport_tilt_deg": 15.504169356727562,
"vertical_arc_m": 0.30911334409303487,
"vortex_apparent_frequency_hz": 7.625432175237144,
"vortex_approach_height_m": 0.306937617481904,
"vortex_depart_height_m": 0.2910666620726376,
"vortex_frequency_hz": 22.374567824762856,
"vortex_phase_rad": 4.737775424256049,
"vortex_radius_m": 0.0007247913844906001,
"vortex_tilt_deg": 0.6605968777067364
},
"trajectory_validation": {
"duration_s": 16.993594037381584,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 1.0162341189061925e-15,
"max_quaternion_norm_error": 2.220446049250313e-16,
"max_sample_step_m": 0.00296558521914514,
"valid": true,
"wrong_orientation_contact_error_m": 0.0,
"wrong_orientation_max_tilt_deg": 0.0,
"wrong_orientation_min_tilt_deg": 0.0,
"wrong_orientation_valid": true
},
"tube_cap_present": true,
"tube_drop": {
"phase": "vortex",
"phase_fraction": 0.6187301840539564,
"release_time_s": 8.95481408788644,
"target_surface": "vortex",
"vortex_release_azimuth_deg": 9.364842493032654,
"vortex_release_offset_m": 0.035800851349408365,
"vortex_release_tilt_deg": 0.0
},
"tube_id": "CT-009",
"tube_return_position": [
0.18966107685241584,
-0.25386138336554814,
0.8529
],
"tube_start_position": [
0.2895230469046408,
-0.2591137102107206,
0.8529
],
"video": "front.mp4",
"video_sha256": "5d8d639b4803b1a101dc85ca4bd15f7af7b83ebd97850bd2547ceea197ed58ad",
"video_validation": {
"actual_frame_count": 510,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 510,
"frame_count_valid": true,
"full_decode_frame_count": 510,
"max_changed_pixel_fraction": 0.009042534722222223,
"mean_luminance": 141.9928741455078,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
85,
170,
254,
339,
424,
509
],
"spatial_standard_deviation": 27.599639892578125,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.000580924700640903,
0.21412485798119496,
0.9580000000000001
],
"vortex_id": "VTX-005",
"vortex_position": [
-0.036330047330134174,
0.19908822833152107,
0.79
],
"vortex_yaw_deg": -58.138200185025426,
"wrong_orientation": {
"azimuth_deg": 179.75037765729542,
"mode": "tilted",
"tilt_deg_from_z": 31.35046214597218
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.5000224941142546,
-0.031752785985155796,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -124.88097577286372,
"release_lateral_offset_m": 0.021910478647365707,
"release_phase_fraction": 0.6726063192932907,
"release_tilt_deg": 31.78828638391348,
"release_time_s": 15.459772549310514,
"slot_offset_xy": [
0.02,
0.019
],
"tube_target_position": [
-0.4976036537381362,
-0.004272807614806605,
0.8500000000000001
],
"yaw_deg": 41.43848103145662
},
"wrong_rack_physics": {
"fall_distance_m": 0.10089706555199496,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 324.39459228515625,
"final_linear_speed_mps": 0.10983778536319733,
"final_linear_velocity_mps": [
-0.08055205643177032,
0.0746685117483139,
0.0005641436437144876
],
"final_position_m": [
-0.5920568704605103,
0.039818599820137024,
0.8085986971855164
],
"final_protected_visual_minimum_z_m": 0.7902499472430621,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 89.99546224735025,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.6886929273605347,
"first_impact_position_m": [
-0.52253258228302,
-0.03741633519530296,
0.8687800168991089
],
"first_impact_time_s": 15.708333333333334,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8059675097465515,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": false,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": -124.88097577286372,
"planned_release_lateral_offset_m": 0.021910478647365707,
"planned_release_tilt_deg": 31.78828638391348,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05686457529854638,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.6726063192932907,
"release_position_m": [
-0.5011363936244184,
-0.005647011144417622,
0.9068645752985465
],
"release_time_s": 15.459772549310514,
"support_clearance_m": 0.0002499472430620431,
"support_surface_z_m": 0.79,
"target_body": "wrong_rack",
"tube_root_below_rack_top": true,
"valid": true,
"visual_surface_nonpenetration_valid": true,
"wrong_rack_id": "TR-003"
}
}