| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.6173316840334911, |
| 0.3025467657183817, |
| 0.6776038357257792 |
| ], |
| "cabinet_color_rgb": [ |
| 0.22714699734435007, |
| 0.26135294719716323, |
| 0.3988563524450054 |
| ], |
| "floor_color_rgb": [ |
| 0.19304549886799327, |
| 0.24457701215357197, |
| 0.24153845317314326 |
| ], |
| "screen_color_rgb": [ |
| 0.24242709164620124, |
| 0.7135616266746019, |
| 0.9245839050986019 |
| ], |
| "style": "instrument_bay", |
| "wall_color_rgb": [ |
| 0.30447235780355236, |
| 0.3909529864447668, |
| 0.49426107075034864 |
| ] |
| }, |
| "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-018", |
| "pitch_deg": -89.40643131657141, |
| "position": [ |
| 0.32017621299228893, |
| -0.09190747252139286, |
| 0.8254950961307825 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8803797768750311, |
| "yaw_deg": 118.76991416065067 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.07096677723394262, |
| 0.29065101293705564, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9064197072625741, |
| "yaw_deg": 40.72792280931168 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.21685474286217232, |
| -0.321580939296837, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9257533935363905, |
| "yaw_deg": 128.7276367016545 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.4893660260662106, |
| 1.0323042100004864, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0384633156550835, |
| "yaw_deg": 81.30867067775273 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.582111676574701, |
| -0.012051216945439813, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9358015394758588, |
| "yaw_deg": -124.8783501487506 |
| }, |
| { |
| "asset_id": "PIP-008", |
| "pitch_deg": -86.46852176345308, |
| "position": [ |
| -0.640467317754916, |
| 0.15080633887740946, |
| 0.801290166043863 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1728441352025043, |
| "yaw_deg": 165.3891020929334 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.023797999049801732, |
| 0.0675953871902325, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0205509768166767, |
| "yaw_deg": 33.89333823954732 |
| } |
| ], |
| "duration_s": 15.760382456073732, |
| "episode_id": 14, |
| "error_type": "wrong_rack", |
| "frame_count": 473, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.92, |
| 0.92, |
| 0.9466148097399297 |
| ], |
| "light_intensity": 1600.086668177165, |
| "liquid": { |
| "color_rgb": [ |
| 0.06440332982498183, |
| 0.21660529444742327, |
| 0.38448660462006534 |
| ], |
| "fill_fraction": 0.40592769470886986, |
| "opacity": 0.9381105657888215, |
| "vortex_level_rise_fraction": 0.22262119209891515 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.4313709512853343, |
| "direction_azimuth_deg": -67.29660952954941, |
| "lateral_speed_mps": 0.08453240471742027, |
| "phase": "lower_to_rack", |
| "phase_fraction": 0.8433956330053984, |
| "release_clearance_m": 0.005469147585526618, |
| "release_tilt_deg": 124.23893146408051, |
| "stage": "insertion", |
| "tip_duration_s": 0.47158914084913794, |
| "trigger_time_s": 14.559375139308658, |
| "tube_detach_fraction": 0.49883908007680633, |
| "tube_engagement_fraction": 0.679147405461377, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.09595043744575282 |
| }, |
| "rack_id": "TR-002", |
| "rack_position": [ |
| 0.29060853842242207, |
| 0.21122687111737432, |
| 0.79 |
| ], |
| "rack_yaw_deg": 17.901563007712525, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-002", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-009", |
| "vortex_id": "VTX-003" |
| }, |
| "distractors": { |
| "count": 7, |
| "placements": [ |
| { |
| "asset_id": "PIP-018", |
| "pitch_deg": -89.40643131657141, |
| "position": [ |
| 0.32017621299228893, |
| -0.09190747252139286, |
| 0.8254950961307825 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8803797768750311, |
| "yaw_deg": 118.76991416065067 |
| }, |
| { |
| "asset_id": "SBI-002", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.07096677723394262, |
| 0.29065101293705564, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9064197072625741, |
| "yaw_deg": 40.72792280931168 |
| }, |
| { |
| "asset_id": "RES-009", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.21685474286217232, |
| -0.321580939296837, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9257533935363905, |
| "yaw_deg": 128.7276367016545 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.4893660260662106, |
| 1.0323042100004864, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0384633156550835, |
| "yaw_deg": 81.30867067775273 |
| }, |
| { |
| "asset_id": "RES-010", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.582111676574701, |
| -0.012051216945439813, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.9358015394758588, |
| "yaw_deg": -124.8783501487506 |
| }, |
| { |
| "asset_id": "PIP-008", |
| "pitch_deg": -86.46852176345308, |
| "position": [ |
| -0.640467317754916, |
| 0.15080633887740946, |
| 0.801290166043863 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1728441352025043, |
| "yaw_deg": 165.3891020929334 |
| }, |
| { |
| "asset_id": "SBI-005", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.023797999049801732, |
| 0.0675953871902325, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0205509768166767, |
| "yaw_deg": 33.89333823954732 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.6173316840334911, |
| 0.3025467657183817, |
| 0.6776038357257792 |
| ], |
| "cabinet_color_rgb": [ |
| 0.22714699734435007, |
| 0.26135294719716323, |
| 0.3988563524450054 |
| ], |
| "floor_color_rgb": [ |
| 0.19304549886799327, |
| 0.24457701215357197, |
| 0.24153845317314326 |
| ], |
| "screen_color_rgb": [ |
| 0.24242709164620124, |
| 0.7135616266746019, |
| 0.9245839050986019 |
| ], |
| "style": "instrument_bay", |
| "wall_color_rgb": [ |
| 0.30447235780355236, |
| 0.3909529864447668, |
| 0.49426107075034864 |
| ] |
| }, |
| "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, |
| 0.9466148097399297 |
| ], |
| "light_intensity": 1600.086668177165, |
| "table_color_rgb": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| 0.29060853842242207, |
| 0.21122687111737432, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": -131.95286977078476, |
| "rack_to_vortex_distance_m": 0.5909070348441915, |
| "rack_yaw_deg": 17.901563007712525, |
| "return_slot_offset_xy_m": [ |
| -0.068, |
| -0.068 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| 0.068, |
| -0.034 |
| ], |
| "tube_return_position_m": [ |
| 0.24680270435820545, |
| 0.12561700660435035, |
| 0.8152000000000001 |
| ], |
| "tube_start_position_m": [ |
| 0.3657673953232442, |
| 0.19977496169746783, |
| 0.8152000000000001 |
| ], |
| "vortex_contact_position_m": [ |
| -0.09739688398668749, |
| -0.17035244515802728, |
| 1.0265 |
| ], |
| "vortex_position_m": [ |
| -0.10442409224844801, |
| -0.22822772782727946, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -6.7264023739154055 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.06440332982498183, |
| 0.21660529444742327, |
| 0.38448660462006534 |
| ], |
| "effective_peak_level_fraction": 0.628548886807785, |
| "effective_vortex_level_rise_fraction": 0.22262119209891515, |
| "fill_fraction": 0.40592769470886986, |
| "opacity": 0.9381105657888215, |
| "present": true, |
| "vortex_level_rise_fraction": 0.22262119209891515 |
| }, |
| "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": 26400910, |
| "trajectory": { |
| "approach_pattern": "hook", |
| "approach_sway_m": -0.0057857453733191795, |
| "depart_pattern": "spiral", |
| "depart_sway_m": 0.010883538930345663, |
| "handling_noise_amplitude_m": 0.01007216792892245, |
| "handling_noise_frequency_hz": 1.6223458109036675, |
| "handling_noise_phase_xyz_rad": [ |
| 5.992655291117962, |
| 5.01219060018001, |
| 4.977973290462164 |
| ], |
| "lift_height_m": 0.06760045272527798, |
| "orientation_noise_deg": 3.695469028488073, |
| "outbound_curve_bias": 0.6541462329248469, |
| "outbound_pattern": "late_swoop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 14.793941566376182, |
| 15.760382456073732 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.0265208048357426 |
| ], |
| "lift_from_rack": [ |
| 1.0265208048357426, |
| 2.1951733674489677 |
| ], |
| "lower_to_rack": [ |
| 13.296113430615385, |
| 14.793941566376182 |
| ], |
| "lower_to_vortex": [ |
| 4.165299421808326, |
| 5.174613158665672 |
| ], |
| "raise_from_vortex": [ |
| 9.730806985464135, |
| 10.714245659255807 |
| ], |
| "transfer_to_rack": [ |
| 10.714245659255807, |
| 13.296113430615385 |
| ], |
| "transfer_to_vortex": [ |
| 2.1951733674489677, |
| 4.165299421808326 |
| ], |
| "vortex": [ |
| 5.174613158665672, |
| 9.730806985464135 |
| ] |
| }, |
| "pick_line_azimuth_deg": -25.128074872184612, |
| "pick_line_tilt_deg": 6.523683063708232, |
| "pick_pattern": "lean", |
| "pick_sway_m": 0.009108471756551578, |
| "put_pattern": "straight", |
| "put_sway_m": 0.0022180725325079073, |
| "rack_put_height_m": 0.37280805023519825, |
| "return_bend_scale": 0.7845640111795431, |
| "return_curve_bias": 0.6406288678016527, |
| "return_pattern": "late_swoop", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.577376445541556, |
| "transfer_bend_m": 0.2571015044958197, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 3.7038986559984446, |
| "vertical_arc_m": 0.14018846743536456, |
| "vortex_apparent_frequency_hz": 6.186046791746964, |
| "vortex_approach_height_m": 0.25919813023771254, |
| "vortex_depart_height_m": 0.23123703830190645, |
| "vortex_frequency_hz": 23.813953208253036, |
| "vortex_phase_rad": 3.228176594947896, |
| "vortex_radius_m": 0.00050320823796488, |
| "vortex_tilt_deg": 0.4754650864195036 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| -0.068, |
| -0.068 |
| ], |
| "scene_id": "wrong_rack/scene_000014", |
| "schema_version": 15, |
| "seed": 26400910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "21b77357c49ef5f2ac5da25dff1440401aa9325619e6f622236548ca6cf4ed3e", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| 0.068, |
| -0.034 |
| ], |
| "subtype_event": { |
| "category": "wrong_rack", |
| "event_phase": "lower_to_rack", |
| "event_time_s": 14.446393613111692, |
| "is_failure": true, |
| "randomized_parameters": { |
| "hole_relation": "too_small", |
| "insertion_depth_m": 0.0, |
| "insertion_succeeds": false, |
| "placement_outcome": "physx_drop_pending", |
| "position": [ |
| 0.6607768185268516, |
| -0.28999017119456894, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -172.7093482324684, |
| "release_lateral_offset_m": 0.02027390139829706, |
| "release_phase_fraction": 0.7679653993894567, |
| "release_tilt_deg": 30.354946714879798, |
| "release_time_s": 14.446393613111692, |
| "slot_offset_xy": [ |
| -0.02, |
| 0.019 |
| ], |
| "tube_target_position": [ |
| 0.644931545778136, |
| -0.267408600577829, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -11.411827822890437 |
| }, |
| "realized_outcome": { |
| "fall_distance_m": 0.07327851741214608, |
| "falling_under_gravity_at_episode_end": false, |
| "final_angular_speed_deg_s": 38.53017807006836, |
| "final_linear_speed_mps": 0.015779942274093628, |
| "final_linear_velocity_mps": [ |
| 0.002607523463666439, |
| 0.015563011169433594, |
| 7.078911949065514e-06 |
| ], |
| "final_position_m": [ |
| 0.5957810282707214, |
| -0.21582931280136108, |
| 0.8085982799530029 |
| ], |
| "final_protected_visual_minimum_z_m": 0.7902495299531803, |
| "final_state_valid": true, |
| "final_surface": "table", |
| "final_tilt_from_upright_deg": 89.99974803333531, |
| "first_impact_body": "wrong_rack", |
| "first_impact_linear_speed_mps": 0.2833721935749054, |
| "first_impact_position_m": [ |
| 0.6224523186683655, |
| -0.26768654584884644, |
| 0.8566946387290955 |
| ], |
| "first_impact_time_s": 14.541666666666666, |
| "hole_relation": "too_small", |
| "inside_wrong_rack_footprint": false, |
| "minimum_root_z_m": 0.8085918426513672, |
| "observed_outcome": "fell_to_table", |
| "overlaps_wrong_rack_footprint": true, |
| "planned_outcome": "physx_drop_pending", |
| "planned_release_azimuth_deg": -172.7093482324684, |
| "planned_release_lateral_offset_m": 0.02027390139829706, |
| "planned_release_tilt_deg": 30.354946714879798, |
| "post_release_scripted_control": false, |
| "release_angular_velocity_rad_s": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_height_above_rack_top_m": 0.03187036006351318, |
| "release_linear_velocity_mps": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_mode": "physx_gravity_from_rest", |
| "release_phase": "lower_to_rack", |
| "release_phase_fraction": 0.7679653993894567, |
| "release_position_m": [ |
| 0.645070535051139, |
| -0.26735769154629085, |
| 0.8818703600635133 |
| ], |
| "release_time_s": 14.446393613111692, |
| "support_clearance_m": 0.00024952995318028304, |
| "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": [ |
| 0.18, |
| 0.48, |
| 0.28 |
| ], |
| "task": "vortexing", |
| "trajectory": { |
| "approach_pattern": "hook", |
| "approach_sway_m": -0.0057857453733191795, |
| "depart_pattern": "spiral", |
| "depart_sway_m": 0.010883538930345663, |
| "handling_noise_amplitude_m": 0.01007216792892245, |
| "handling_noise_frequency_hz": 1.6223458109036675, |
| "handling_noise_phase_xyz_rad": [ |
| 5.992655291117962, |
| 5.01219060018001, |
| 4.977973290462164 |
| ], |
| "lift_height_m": 0.06760045272527798, |
| "orientation_noise_deg": 3.695469028488073, |
| "outbound_curve_bias": 0.6541462329248469, |
| "outbound_pattern": "late_swoop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 14.793941566376182, |
| 15.760382456073732 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.0265208048357426 |
| ], |
| "lift_from_rack": [ |
| 1.0265208048357426, |
| 2.1951733674489677 |
| ], |
| "lower_to_rack": [ |
| 13.296113430615385, |
| 14.793941566376182 |
| ], |
| "lower_to_vortex": [ |
| 4.165299421808326, |
| 5.174613158665672 |
| ], |
| "raise_from_vortex": [ |
| 9.730806985464135, |
| 10.714245659255807 |
| ], |
| "transfer_to_rack": [ |
| 10.714245659255807, |
| 13.296113430615385 |
| ], |
| "transfer_to_vortex": [ |
| 2.1951733674489677, |
| 4.165299421808326 |
| ], |
| "vortex": [ |
| 5.174613158665672, |
| 9.730806985464135 |
| ] |
| }, |
| "pick_line_azimuth_deg": -25.128074872184612, |
| "pick_line_tilt_deg": 6.523683063708232, |
| "pick_pattern": "lean", |
| "pick_sway_m": 0.009108471756551578, |
| "put_pattern": "straight", |
| "put_sway_m": 0.0022180725325079073, |
| "rack_put_height_m": 0.37280805023519825, |
| "return_bend_scale": 0.7845640111795431, |
| "return_curve_bias": 0.6406288678016527, |
| "return_pattern": "late_swoop", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.577376445541556, |
| "transfer_bend_m": 0.2571015044958197, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 3.7038986559984446, |
| "vertical_arc_m": 0.14018846743536456, |
| "vortex_apparent_frequency_hz": 6.186046791746964, |
| "vortex_approach_height_m": 0.25919813023771254, |
| "vortex_depart_height_m": 0.23123703830190645, |
| "vortex_frequency_hz": 23.813953208253036, |
| "vortex_phase_rad": 3.228176594947896, |
| "vortex_radius_m": 0.00050320823796488, |
| "vortex_tilt_deg": 0.4754650864195036 |
| }, |
| "trajectory_validation": { |
| "duration_s": 15.760382456073732, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 6.475144391386969e-16, |
| "max_quaternion_norm_error": 1.1102230246251565e-16, |
| "max_sample_step_m": 0.003783436038804234, |
| "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": "transfer_to_vortex", |
| "phase_fraction": 0.49999999999999994, |
| "release_time_s": 3.180236394628647, |
| "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": [ |
| 0.24680270435820545, |
| 0.12561700660435035, |
| 0.8152000000000001 |
| ], |
| "tube_start_position": [ |
| 0.3657673953232442, |
| 0.19977496169746783, |
| 0.8152000000000001 |
| ], |
| "video": "front.mp4", |
| "video_sha256": "6d30a2c1989195a93abe13eae6bb1e1ced1d7ad36078343a87f90d6922855ea9", |
| "video_validation": { |
| "actual_frame_count": 473, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 473, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 473, |
| "max_changed_pixel_fraction": 0.009697048611111111, |
| "mean_luminance": 104.9047622680664, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 79, |
| 157, |
| 236, |
| 315, |
| 393, |
| 472 |
| ], |
| "spatial_standard_deviation": 33.657012939453125, |
| "valid": true |
| }, |
| "view_index": 1, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| -0.09739688398668749, |
| -0.17035244515802728, |
| 1.0265 |
| ], |
| "vortex_id": "VTX-003", |
| "vortex_position": [ |
| -0.10442409224844801, |
| -0.22822772782727946, |
| 0.79 |
| ], |
| "vortex_yaw_deg": -6.7264023739154055, |
| "wrong_orientation": { |
| "azimuth_deg": 122.84359442507849, |
| "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": [ |
| 0.6607768185268516, |
| -0.28999017119456894, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -172.7093482324684, |
| "release_lateral_offset_m": 0.02027390139829706, |
| "release_phase_fraction": 0.7679653993894567, |
| "release_tilt_deg": 30.354946714879798, |
| "release_time_s": 14.446393613111692, |
| "slot_offset_xy": [ |
| -0.02, |
| 0.019 |
| ], |
| "tube_target_position": [ |
| 0.644931545778136, |
| -0.267408600577829, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -11.411827822890437 |
| }, |
| "wrong_rack_physics": { |
| "fall_distance_m": 0.07327851741214608, |
| "falling_under_gravity_at_episode_end": false, |
| "final_angular_speed_deg_s": 38.53017807006836, |
| "final_linear_speed_mps": 0.015779942274093628, |
| "final_linear_velocity_mps": [ |
| 0.002607523463666439, |
| 0.015563011169433594, |
| 7.078911949065514e-06 |
| ], |
| "final_position_m": [ |
| 0.5957810282707214, |
| -0.21582931280136108, |
| 0.8085982799530029 |
| ], |
| "final_protected_visual_minimum_z_m": 0.7902495299531803, |
| "final_state_valid": true, |
| "final_surface": "table", |
| "final_tilt_from_upright_deg": 89.99974803333531, |
| "first_impact_body": "wrong_rack", |
| "first_impact_linear_speed_mps": 0.2833721935749054, |
| "first_impact_position_m": [ |
| 0.6224523186683655, |
| -0.26768654584884644, |
| 0.8566946387290955 |
| ], |
| "first_impact_time_s": 14.541666666666666, |
| "hole_relation": "too_small", |
| "inside_wrong_rack_footprint": false, |
| "minimum_root_z_m": 0.8085918426513672, |
| "observed_outcome": "fell_to_table", |
| "overlaps_wrong_rack_footprint": true, |
| "planned_outcome": "physx_drop_pending", |
| "planned_release_azimuth_deg": -172.7093482324684, |
| "planned_release_lateral_offset_m": 0.02027390139829706, |
| "planned_release_tilt_deg": 30.354946714879798, |
| "post_release_scripted_control": false, |
| "release_angular_velocity_rad_s": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_height_above_rack_top_m": 0.03187036006351318, |
| "release_linear_velocity_mps": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_mode": "physx_gravity_from_rest", |
| "release_phase": "lower_to_rack", |
| "release_phase_fraction": 0.7679653993894567, |
| "release_position_m": [ |
| 0.645070535051139, |
| -0.26735769154629085, |
| 0.8818703600635133 |
| ], |
| "release_time_s": 14.446393613111692, |
| "support_clearance_m": 0.00024952995318028304, |
| "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" |
| } |
| } |
|
|
