xspcz's picture
Add files using upload-large-folder tool
b11a94d verified
Raw History Blame Contribute Delete
26.8 kB
{
"background": {
"accent_color_rgb": [
0.2307020452971862,
0.4993895629087351,
0.7097830476829311
],
"cabinet_color_rgb": [
0.7188027082548587,
0.7346407850000637,
0.8249614456349225
],
"floor_color_rgb": [
0.3387244183301694,
0.3439892331527805,
0.3813759507557278
],
"screen_color_rgb": [
0.5267658379753244,
0.7637043284371342,
0.9127199898664554
],
"style": "clean_room",
"wall_color_rgb": [
0.7792774619320233,
0.8416113423055119,
0.9159425661267405
]
},
"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": "TR-008",
"pitch_deg": 0.0,
"position": [
-0.7608108148592194,
0.41601026755356496,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0686640902087237,
"yaw_deg": 2.682565086081979
},
{
"asset_id": "TIP-002",
"pitch_deg": 0.0,
"position": [
-0.5548389197881436,
0.18269069364786344,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9065590928135987,
"yaw_deg": -73.0351381469048
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
0.8017137947590267,
1.1986578759170226,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9932363633312165,
"yaw_deg": 60.25558605670412
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.08316211502972504,
1.1712688379434646,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.791385244035424,
"yaw_deg": 58.39820655525199
}
],
"duration_s": 14.689968757586323,
"episode_id": 22,
"error_type": "wrong_rack",
"frame_count": 441,
"generation_success": true,
"light_color_rgb": [
0.92,
0.92,
0.9602098560811446
],
"light_intensity": 2250.972784261369,
"liquid": {
"color_rgb": [
0.06487641436718261,
0.22757085912664657,
0.3857596667683268
],
"fill_fraction": 0.5569888980999116,
"opacity": 0.9257409689223365,
"vortex_level_rise_fraction": 0.20169242475205282
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 1.6619535657935698,
"direction_azimuth_deg": -29.636362696066527,
"lateral_speed_mps": 0.0606543408379327,
"phase": "lift_from_rack",
"phase_fraction": 0.27688054109736093,
"release_clearance_m": 0.004070622091040952,
"release_tilt_deg": 139.11027503162882,
"stage": "pickup",
"tip_duration_s": 0.30585769788194794,
"trigger_time_s": 1.0885147479036248,
"tube_detach_fraction": 0.4583461637059853,
"tube_engagement_fraction": 0.6507175899664167,
"tube_on_rack": true,
"upward_speed_mps": 0.09824316673985277
},
"rack_id": "TR-002",
"rack_position": [
0.5641820067490566,
-0.3104657014094717,
0.79
],
"rack_yaw_deg": 50.72778901475853,
"randomization_results": {
"assets": {
"rack_id": "TR-002",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-002"
},
"distractors": {
"count": 4,
"placements": [
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
-0.7608108148592194,
0.41601026755356496,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0686640902087237,
"yaw_deg": 2.682565086081979
},
{
"asset_id": "TIP-002",
"pitch_deg": 0.0,
"position": [
-0.5548389197881436,
0.18269069364786344,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9065590928135987,
"yaw_deg": -73.0351381469048
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
0.8017137947590267,
1.1986578759170226,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.9932363633312165,
"yaw_deg": 60.25558605670412
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
-0.08316211502972504,
1.1712688379434646,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.791385244035424,
"yaw_deg": 58.39820655525199
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.2307020452971862,
0.4993895629087351,
0.7097830476829311
],
"cabinet_color_rgb": [
0.7188027082548587,
0.7346407850000637,
0.8249614456349225
],
"floor_color_rgb": [
0.3387244183301694,
0.3439892331527805,
0.3813759507557278
],
"screen_color_rgb": [
0.5267658379753244,
0.7637043284371342,
0.9127199898664554
],
"style": "clean_room",
"wall_color_rgb": [
0.7792774619320233,
0.8416113423055119,
0.9159425661267405
]
},
"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,
0.9602098560811446
],
"light_intensity": 2250.972784261369,
"table_color_rgb": [
0.16,
0.42,
0.46
]
},
"layout": {
"rack_position_m": [
0.5641820067490566,
-0.3104657014094717,
0.79
],
"rack_to_vortex_bearing_deg": 160.37466926372628,
"rack_to_vortex_distance_m": 0.49849518022715544,
"rack_yaw_deg": 50.72778901475853,
"return_slot_offset_xy_m": [
-0.034,
0.0
],
"returns_to_different_slot": false,
"start_slot_offset_xy_m": [
-0.034,
0.0
],
"tube_return_position_m": [
0.5426598204950932,
-0.33678671010689265,
0.8152000000000001
],
"tube_start_position_m": [
0.5426598204950932,
-0.33678671010689265,
0.8152000000000001
],
"vortex_contact_position_m": [
0.10332221527338961,
-0.11592984338241721,
0.9790000000000001
],
"vortex_position_m": [
0.09464488212369143,
-0.14303710974052034,
0.79
],
"vortex_yaw_deg": -36.821981015151906
},
"liquid": {
"color_rgb": [
0.06487641436718261,
0.22757085912664657,
0.3857596667683268
],
"effective_peak_level_fraction": 0.7586813228519644,
"effective_vortex_level_rise_fraction": 0.20169242475205282,
"fill_fraction": 0.5569888980999116,
"opacity": 0.9257409689223365,
"present": true,
"vortex_level_rise_fraction": 0.20169242475205282
},
"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": 26480910,
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.0042509600122493645,
"depart_pattern": "straight",
"depart_sway_m": -0.009290807865885436,
"handling_noise_amplitude_m": 0.010117891768709305,
"handling_noise_frequency_hz": 0.5226613769770913,
"handling_noise_phase_xyz_rad": [
0.40075665777880887,
1.5868690613008127,
5.972843282873303
],
"lift_height_m": 0.09079704976523047,
"orientation_noise_deg": 0.6347982629649922,
"outbound_curve_bias": -0.001226692145830266,
"outbound_pattern": "loop",
"phase_boundaries_s": {
"final_hold": [
13.762843754752355,
14.689968757586323
],
"initial_hold": [
0.0,
0.8015366039076598
],
"lift_from_rack": [
0.8015366039076598,
1.8380057716526523
],
"lower_to_rack": [
12.207241779145019,
13.762843754752355
],
"lower_to_vortex": [
4.72969212455127,
5.6365799483241785
],
"raise_from_vortex": [
8.914690588454953,
10.044221098998348
],
"transfer_to_rack": [
10.044221098998348,
12.207241779145019
],
"transfer_to_vortex": [
1.8380057716526523,
4.72969212455127
],
"vortex": [
5.6365799483241785,
8.914690588454953
]
},
"pick_line_azimuth_deg": -104.76237233005446,
"pick_line_tilt_deg": 4.320743204178622,
"pick_pattern": "spiral",
"pick_sway_m": -0.006671354347266786,
"put_pattern": "lean",
"put_sway_m": -0.004941432461359029,
"rack_put_height_m": 0.21073032083012866,
"return_bend_scale": 0.6354173832887107,
"return_curve_bias": -0.20067140462048072,
"return_pattern": "wide_detour",
"return_side": 1.0,
"return_vertical_arc_scale": 0.639422935295503,
"transfer_bend_m": 0.2817983890458434,
"transfer_side": 1.0,
"transport_tilt_deg": 15.148879845889478,
"vertical_arc_m": 0.20723887947076364,
"vortex_apparent_frequency_hz": 3.574895324102094,
"vortex_approach_height_m": 0.29453768031808053,
"vortex_depart_height_m": 0.23804332071918072,
"vortex_frequency_hz": 26.425104675897906,
"vortex_phase_rad": 0.18921252741277422,
"vortex_radius_m": 0.0006377185267808726,
"vortex_tilt_deg": 0.26343042651092935
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
-0.034,
0.0
],
"scene_id": "wrong_rack/scene_000022",
"schema_version": 15,
"seed": 26480910,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "f78c96671edfdf854459d2749bceda4d23a493692c49b024f692c500c6cdfe2f",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.034,
0.0
],
"subtype_event": {
"category": "wrong_rack",
"event_phase": "lower_to_rack",
"event_time_s": 13.297284608292147,
"is_failure": true,
"randomized_parameters": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.37412197530868857,
-0.017441215476285632,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -133.59512924641461,
"release_lateral_offset_m": 0.015996457231655586,
"release_phase_fraction": 0.7007209082011833,
"release_tilt_deg": 34.30843637118829,
"release_time_s": 13.297284608292147,
"slot_offset_xy": [
-0.02,
-0.019
],
"tube_target_position": [
-0.38894511928468256,
-0.040706520173773554,
0.8500000000000001
],
"yaw_deg": 13.96615522034601
},
"realized_outcome": {
"fall_distance_m": 0.07563711131061734,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 32.29039001464844,
"final_linear_speed_mps": 0.0101292310282588,
"final_linear_velocity_mps": [
0.006985649466514587,
-0.007331717759370804,
-0.00021894530800636858
],
"final_position_m": [
-0.3484790623188019,
-0.13868187367916107,
0.8085994124412537
],
"final_protected_visual_minimum_z_m": 0.7902501833924165,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 90.00022872904103,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.34020960330963135,
"first_impact_position_m": [
-0.39830121397972107,
-0.054057419300079346,
0.8576657176017761
],
"first_impact_time_s": 13.4,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8085985779762268,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": false,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": -133.59512924641461,
"planned_release_lateral_offset_m": 0.015996457231655586,
"planned_release_tilt_deg": 34.30843637118829,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.03423568928684406,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.7007209082011833,
"release_position_m": [
-0.387851632895061,
-0.038603029485448345,
0.8842356892868442
],
"release_time_s": 13.297284608292147,
"support_clearance_m": 0.0002501833924164476,
"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": [
0.16,
0.42,
0.46
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": -0.0042509600122493645,
"depart_pattern": "straight",
"depart_sway_m": -0.009290807865885436,
"handling_noise_amplitude_m": 0.010117891768709305,
"handling_noise_frequency_hz": 0.5226613769770913,
"handling_noise_phase_xyz_rad": [
0.40075665777880887,
1.5868690613008127,
5.972843282873303
],
"lift_height_m": 0.09079704976523047,
"orientation_noise_deg": 0.6347982629649922,
"outbound_curve_bias": -0.001226692145830266,
"outbound_pattern": "loop",
"phase_boundaries_s": {
"final_hold": [
13.762843754752355,
14.689968757586323
],
"initial_hold": [
0.0,
0.8015366039076598
],
"lift_from_rack": [
0.8015366039076598,
1.8380057716526523
],
"lower_to_rack": [
12.207241779145019,
13.762843754752355
],
"lower_to_vortex": [
4.72969212455127,
5.6365799483241785
],
"raise_from_vortex": [
8.914690588454953,
10.044221098998348
],
"transfer_to_rack": [
10.044221098998348,
12.207241779145019
],
"transfer_to_vortex": [
1.8380057716526523,
4.72969212455127
],
"vortex": [
5.6365799483241785,
8.914690588454953
]
},
"pick_line_azimuth_deg": -104.76237233005446,
"pick_line_tilt_deg": 4.320743204178622,
"pick_pattern": "spiral",
"pick_sway_m": -0.006671354347266786,
"put_pattern": "lean",
"put_sway_m": -0.004941432461359029,
"rack_put_height_m": 0.21073032083012866,
"return_bend_scale": 0.6354173832887107,
"return_curve_bias": -0.20067140462048072,
"return_pattern": "wide_detour",
"return_side": 1.0,
"return_vertical_arc_scale": 0.639422935295503,
"transfer_bend_m": 0.2817983890458434,
"transfer_side": 1.0,
"transport_tilt_deg": 15.148879845889478,
"vertical_arc_m": 0.20723887947076364,
"vortex_apparent_frequency_hz": 3.574895324102094,
"vortex_approach_height_m": 0.29453768031808053,
"vortex_depart_height_m": 0.23804332071918072,
"vortex_frequency_hz": 26.425104675897906,
"vortex_phase_rad": 0.18921252741277422,
"vortex_radius_m": 0.0006377185267808726,
"vortex_tilt_deg": 0.26343042651092935
},
"trajectory_validation": {
"duration_s": 14.689968757586323,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 1.4911358492086037e-15,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.0054915128791630475,
"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": 0.7085604486157406,
"release_time_s": 7.959319494107273,
"target_surface": "vortex",
"vortex_release_azimuth_deg": 73.7818516606842,
"vortex_release_offset_m": 0.03621673473136145,
"vortex_release_tilt_deg": 0.0
},
"tube_id": "CT-009",
"tube_return_position": [
0.5426598204950932,
-0.33678671010689265,
0.8152000000000001
],
"tube_start_position": [
0.5426598204950932,
-0.33678671010689265,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "1449bcfe02cc37f640ae832c9f5b32200d48329247e2b94728ddf94b17696994",
"video_validation": {
"actual_frame_count": 441,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 441,
"frame_count_valid": true,
"full_decode_frame_count": 441,
"max_changed_pixel_fraction": 0.011754774305555556,
"mean_luminance": 150.37625122070312,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
73,
147,
220,
293,
367,
440
],
"spatial_standard_deviation": 35.57480239868164,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.10332221527338961,
-0.11592984338241721,
0.9790000000000001
],
"vortex_id": "VTX-002",
"vortex_position": [
0.09464488212369143,
-0.14303710974052034,
0.79
],
"vortex_yaw_deg": -36.821981015151906,
"wrong_orientation": {
"azimuth_deg": -5.3493059692748375,
"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": [
-0.37412197530868857,
-0.017441215476285632,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -133.59512924641461,
"release_lateral_offset_m": 0.015996457231655586,
"release_phase_fraction": 0.7007209082011833,
"release_tilt_deg": 34.30843637118829,
"release_time_s": 13.297284608292147,
"slot_offset_xy": [
-0.02,
-0.019
],
"tube_target_position": [
-0.38894511928468256,
-0.040706520173773554,
0.8500000000000001
],
"yaw_deg": 13.96615522034601
},
"wrong_rack_physics": {
"fall_distance_m": 0.07563711131061734,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 32.29039001464844,
"final_linear_speed_mps": 0.0101292310282588,
"final_linear_velocity_mps": [
0.006985649466514587,
-0.007331717759370804,
-0.00021894530800636858
],
"final_position_m": [
-0.3484790623188019,
-0.13868187367916107,
0.8085994124412537
],
"final_protected_visual_minimum_z_m": 0.7902501833924165,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 90.00022872904103,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.34020960330963135,
"first_impact_position_m": [
-0.39830121397972107,
-0.054057419300079346,
0.8576657176017761
],
"first_impact_time_s": 13.4,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8085985779762268,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": false,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": -133.59512924641461,
"planned_release_lateral_offset_m": 0.015996457231655586,
"planned_release_tilt_deg": 34.30843637118829,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.03423568928684406,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.7007209082011833,
"release_position_m": [
-0.387851632895061,
-0.038603029485448345,
0.8842356892868442
],
"release_time_s": 13.297284608292147,
"support_clearance_m": 0.0002501833924164476,
"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"
}
}