| { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8082901445587392, |
| 0.7229819849179805, |
| 0.21262328543519438 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5829304759064401, |
| 0.7089797448530111, |
| 0.6693190891969076 |
| ], |
| "floor_color_rgb": [ |
| 0.23751691510870807, |
| 0.3078631729912942, |
| 0.3299364060290072 |
| ], |
| "screen_color_rgb": [ |
| 0.28147901597749847, |
| 0.7031691308770263, |
| 0.8173683682576526 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.7638270402069214, |
| 0.7861651417204796, |
| 0.7759468817718777 |
| ] |
| }, |
| "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-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.7996777804871305, |
| 0.9994227576722193, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0357639196802824, |
| "yaw_deg": 177.50040571758592 |
| }, |
| { |
| "asset_id": "SBI-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3628589835349747, |
| 1.1586635808624586, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.7915027607211506, |
| "yaw_deg": -93.86767976548893 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.42909461173730346, |
| -0.3631250089286837, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8874491063645952, |
| "yaw_deg": 30.399976557463248 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.39332306655803195, |
| 0.25447233323172436, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1513795088143468, |
| "yaw_deg": -14.81679177820186 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.0636206389280537, |
| 1.2644527925184474, |
| 0.8410877235423526 |
| ], |
| "roll_deg": -91.16218938849485, |
| "surface": "rear_bench", |
| "uniform_scale": 1.163486103555231, |
| "yaw_deg": -166.96256858038424 |
| }, |
| { |
| "asset_id": "PIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.09940301967882115, |
| -0.3352644054338268, |
| 0.8026735513178067 |
| ], |
| "roll_deg": 87.034923378744, |
| "surface": "main_table", |
| "uniform_scale": 0.822537251203154, |
| "yaw_deg": 155.38864570206408 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5372842267257139, |
| -0.08612078197051876, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8959658853490096, |
| "yaw_deg": 20.812503030142324 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": -86.93343265561555, |
| "position": [ |
| 0.01046679112756288, |
| 0.337845731199921, |
| 0.8211580333778377 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0968884929458904, |
| "yaw_deg": -34.40729887639071 |
| } |
| ], |
| "duration_s": 18.801852673962323, |
| "episode_id": 26, |
| "error_type": "wrong_rack", |
| "frame_count": 564, |
| "generation_success": true, |
| "light_color_rgb": [ |
| 0.9559691949134169, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2163.2077545182883, |
| "liquid": { |
| "color_rgb": [ |
| 0.052747491797399224, |
| 0.23897370713438623, |
| 0.3940171396767054 |
| ], |
| "fill_fraction": 0.4624001315804145, |
| "opacity": 0.939729493681702, |
| "vortex_level_rise_fraction": 0.22447126651548593 |
| }, |
| "metadata_schema_version": 2, |
| "outcome": "failure", |
| "physics_scene_count": 1, |
| "rack_flip": { |
| "angular_speed_rad_s": 1.7734060036292505, |
| "direction_azimuth_deg": -103.51282576506148, |
| "lateral_speed_mps": 0.05339150717718866, |
| "phase": "lower_to_rack", |
| "phase_fraction": 0.7039164743383406, |
| "release_clearance_m": 0.011454762768918351, |
| "release_tilt_deg": 133.96148485279036, |
| "stage": "insertion", |
| "tip_duration_s": 0.38692329926603575, |
| "trigger_time_s": 17.268787213035484, |
| "tube_detach_fraction": 0.4885846531008968, |
| "tube_engagement_fraction": 0.5474023291988057, |
| "tube_on_rack": true, |
| "upward_speed_mps": 0.09935807079750975 |
| }, |
| "rack_id": "TR-002", |
| "rack_position": [ |
| -0.16712363129214353, |
| -0.2423929966430406, |
| 0.79 |
| ], |
| "rack_yaw_deg": 46.43539061422169, |
| "randomization_results": { |
| "assets": { |
| "rack_id": "TR-002", |
| "source_tube_has_cap": true, |
| "tube_cap_present": true, |
| "tube_id": "CT-009", |
| "vortex_id": "VTX-001" |
| }, |
| "distractors": { |
| "count": 8, |
| "placements": [ |
| { |
| "asset_id": "TIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.7996777804871305, |
| 0.9994227576722193, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 1.0357639196802824, |
| "yaw_deg": 177.50040571758592 |
| }, |
| { |
| "asset_id": "SBI-006", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.3628589835349747, |
| 1.1586635808624586, |
| 0.83 |
| ], |
| "roll_deg": 0.0, |
| "surface": "rear_bench", |
| "uniform_scale": 0.7915027607211506, |
| "yaw_deg": -93.86767976548893 |
| }, |
| { |
| "asset_id": "TR-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| -0.42909461173730346, |
| -0.3631250089286837, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8874491063645952, |
| "yaw_deg": 30.399976557463248 |
| }, |
| { |
| "asset_id": "AUX-TR-003", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.39332306655803195, |
| 0.25447233323172436, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.1513795088143468, |
| "yaw_deg": -14.81679177820186 |
| }, |
| { |
| "asset_id": "PIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.0636206389280537, |
| 1.2644527925184474, |
| 0.8410877235423526 |
| ], |
| "roll_deg": -91.16218938849485, |
| "surface": "rear_bench", |
| "uniform_scale": 1.163486103555231, |
| "yaw_deg": -166.96256858038424 |
| }, |
| { |
| "asset_id": "PIP-008", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.09940301967882115, |
| -0.3352644054338268, |
| 0.8026735513178067 |
| ], |
| "roll_deg": 87.034923378744, |
| "surface": "main_table", |
| "uniform_scale": 0.822537251203154, |
| "yaw_deg": 155.38864570206408 |
| }, |
| { |
| "asset_id": "TIP-007", |
| "pitch_deg": 0.0, |
| "position": [ |
| 0.5372842267257139, |
| -0.08612078197051876, |
| 0.79 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 0.8959658853490096, |
| "yaw_deg": 20.812503030142324 |
| }, |
| { |
| "asset_id": "PIP-017", |
| "pitch_deg": -86.93343265561555, |
| "position": [ |
| 0.01046679112756288, |
| 0.337845731199921, |
| 0.8211580333778377 |
| ], |
| "roll_deg": 0.0, |
| "surface": "main_table", |
| "uniform_scale": 1.0968884929458904, |
| "yaw_deg": -34.40729887639071 |
| } |
| ] |
| }, |
| "environment": { |
| "background": { |
| "accent_color_rgb": [ |
| 0.8082901445587392, |
| 0.7229819849179805, |
| 0.21262328543519438 |
| ], |
| "cabinet_color_rgb": [ |
| 0.5829304759064401, |
| 0.7089797448530111, |
| 0.6693190891969076 |
| ], |
| "floor_color_rgb": [ |
| 0.23751691510870807, |
| 0.3078631729912942, |
| 0.3299364060290072 |
| ], |
| "screen_color_rgb": [ |
| 0.28147901597749847, |
| 0.7031691308770263, |
| 0.8173683682576526 |
| ], |
| "style": "biosafety", |
| "wall_color_rgb": [ |
| 0.7638270402069214, |
| 0.7861651417204796, |
| 0.7759468817718777 |
| ] |
| }, |
| "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": [ |
| 0.9559691949134169, |
| 0.92, |
| 0.92 |
| ], |
| "light_intensity": 2163.2077545182883, |
| "table_color_rgb": [ |
| 0.5, |
| 0.46, |
| 0.38 |
| ] |
| }, |
| "layout": { |
| "rack_position_m": [ |
| -0.16712363129214353, |
| -0.2423929966430406, |
| 0.79 |
| ], |
| "rack_to_vortex_bearing_deg": 117.35613123539797, |
| "rack_to_vortex_distance_m": 0.5914733922608766, |
| "rack_yaw_deg": 46.43539061422169, |
| "return_slot_offset_xy_m": [ |
| 0.068, |
| 0.034 |
| ], |
| "returns_to_different_slot": true, |
| "start_slot_offset_xy_m": [ |
| 0.034, |
| 0.068 |
| ], |
| "tube_return_position_m": [ |
| -0.14489624967540113, |
| -0.16968850223957402, |
| 0.8152000000000001 |
| ], |
| "tube_start_position_m": [ |
| -0.19296442264082955, |
| -0.1708929721502219, |
| 0.8152000000000001 |
| ], |
| "vortex_contact_position_m": [ |
| -0.4639689726420708, |
| 0.3334654124864641, |
| 1.0070000000000001 |
| ], |
| "vortex_position_m": [ |
| -0.43891741957212665, |
| 0.2829344349698578, |
| 0.79 |
| ], |
| "vortex_yaw_deg": 26.370661770526908 |
| }, |
| "liquid": { |
| "color_rgb": [ |
| 0.052747491797399224, |
| 0.23897370713438623, |
| 0.3940171396767054 |
| ], |
| "effective_peak_level_fraction": 0.6868713980959005, |
| "effective_vortex_level_rise_fraction": 0.22447126651548593, |
| "fill_fraction": 0.4624001315804145, |
| "opacity": 0.939729493681702, |
| "present": true, |
| "vortex_level_rise_fraction": 0.22447126651548593 |
| }, |
| "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": 26520910, |
| "trajectory": { |
| "approach_pattern": "spiral", |
| "approach_sway_m": 0.011958961037026416, |
| "depart_pattern": "lean", |
| "depart_sway_m": 0.005403729319733748, |
| "handling_noise_amplitude_m": 0.00916611698325136, |
| "handling_noise_frequency_hz": 1.3620641365099697, |
| "handling_noise_phase_xyz_rad": [ |
| 1.6380815419667785, |
| 4.875804326276345, |
| 6.037681664535339 |
| ], |
| "lift_height_m": 0.10190343938597526, |
| "orientation_noise_deg": 4.291372867928797, |
| "outbound_curve_bias": -0.05677387442698667, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 17.740287596284873, |
| 18.801852673962323 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.29097362552457 |
| ], |
| "lift_from_rack": [ |
| 1.29097362552457, |
| 3.253137406131549 |
| ], |
| "lower_to_rack": [ |
| 16.14783025778309, |
| 17.740287596284873 |
| ], |
| "lower_to_vortex": [ |
| 6.262411146850964, |
| 7.694142874026934 |
| ], |
| "raise_from_vortex": [ |
| 12.128849652495703, |
| 13.036529231047249 |
| ], |
| "transfer_to_rack": [ |
| 13.036529231047249, |
| 16.14783025778309 |
| ], |
| "transfer_to_vortex": [ |
| 3.253137406131549, |
| 6.262411146850964 |
| ], |
| "vortex": [ |
| 7.694142874026934, |
| 12.128849652495703 |
| ] |
| }, |
| "pick_line_azimuth_deg": -15.1650106014431, |
| "pick_line_tilt_deg": 11.408501887827244, |
| "pick_pattern": "s_sway", |
| "pick_sway_m": -0.004905078351517295, |
| "put_pattern": "spiral", |
| "put_sway_m": 0.002726470083550704, |
| "rack_put_height_m": 0.09972563577155337, |
| "return_bend_scale": 0.4981267120628105, |
| "return_curve_bias": 0.39236335073118633, |
| "return_pattern": "late_swoop", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.1751127613966745, |
| "transfer_bend_m": 0.3242248114349131, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 16.887951233634375, |
| "vertical_arc_m": 0.15150392763078965, |
| "vortex_apparent_frequency_hz": 6.608484852566086, |
| "vortex_approach_height_m": 0.2321597572273057, |
| "vortex_depart_height_m": 0.1951992711157572, |
| "vortex_frequency_hz": 23.391515147433914, |
| "vortex_phase_rad": 1.7663239053480349, |
| "vortex_radius_m": 0.00047819909563923824, |
| "vortex_tilt_deg": 0.3539302321753001 |
| } |
| }, |
| "render_fps": 30, |
| "resolution": [ |
| 1920, |
| 1200 |
| ], |
| "return_slot_offset_xy": [ |
| 0.068, |
| 0.034 |
| ], |
| "scene_id": "wrong_rack/scene_000026", |
| "schema_version": 15, |
| "seed": 26520910, |
| "shared_state_file": "shared_state.npz", |
| "shared_state_sha256": "2fd8b50b4e654cd488b01a447190c8c11cfeea57acc25c4c22ddcdcc6af59c32", |
| "simultaneous_camera_count": 3, |
| "source_tube_has_cap": true, |
| "start_slot_offset_xy": [ |
| 0.034, |
| 0.068 |
| ], |
| "subtype_event": { |
| "category": "wrong_rack", |
| "event_phase": "lower_to_rack", |
| "event_time_s": 17.218720590084615, |
| "is_failure": true, |
| "randomized_parameters": { |
| "hole_relation": "too_small", |
| "insertion_depth_m": 0.0, |
| "insertion_succeeds": false, |
| "placement_outcome": "physx_drop_pending", |
| "position": [ |
| 0.6274410061681218, |
| 0.11411345175509202, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -138.25318650393757, |
| "release_lateral_offset_m": 0.019820521444363796, |
| "release_phase_fraction": 0.6724766223935651, |
| "release_tilt_deg": 31.257515359920077, |
| "release_time_s": 17.218720590084615, |
| "slot_offset_xy": [ |
| -0.04, |
| -0.019 |
| ], |
| "tube_target_position": [ |
| 0.5834965410802768, |
| 0.11958007668672668, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -32.49879796307471 |
| }, |
| "realized_outcome": { |
| "fall_distance_m": 0.06122719627067352, |
| "falling_under_gravity_at_episode_end": false, |
| "final_angular_speed_deg_s": 0.009507376700639725, |
| "final_linear_speed_mps": 9.524333108856808e-06, |
| "final_linear_velocity_mps": [ |
| -1.0202631983702304e-06, |
| 8.081591431619017e-07, |
| -9.434980711375829e-06 |
| ], |
| "final_position_m": [ |
| 0.497854620218277, |
| 0.19784331321716309, |
| 0.8085987567901611 |
| ], |
| "final_protected_visual_minimum_z_m": 0.7902500067901611, |
| "final_state_valid": true, |
| "final_surface": "table", |
| "final_tilt_from_upright_deg": 89.99999979217156, |
| "first_impact_body": "wrong_rack", |
| "first_impact_linear_speed_mps": 0.48269137740135193, |
| "first_impact_position_m": [ |
| 0.5702184438705444, |
| 0.10854167491197586, |
| 0.8556933403015137 |
| ], |
| "first_impact_time_s": 17.266666666666666, |
| "hole_relation": "too_small", |
| "inside_wrong_rack_footprint": false, |
| "minimum_root_z_m": 0.8085984587669373, |
| "observed_outcome": "fell_to_table", |
| "overlaps_wrong_rack_footprint": false, |
| "planned_outcome": "physx_drop_pending", |
| "planned_release_azimuth_deg": -138.25318650393757, |
| "planned_release_lateral_offset_m": 0.019820521444363796, |
| "planned_release_tilt_deg": 31.257515359920077, |
| "post_release_scripted_control": false, |
| "release_angular_velocity_rad_s": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_height_above_rack_top_m": 0.01982565503761069, |
| "release_linear_velocity_mps": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_mode": "physx_gravity_from_rest", |
| "release_phase": "lower_to_rack", |
| "release_phase_fraction": 0.6724766223935651, |
| "release_position_m": [ |
| 0.5850064118119546, |
| 0.12173897312759062, |
| 0.8698256550376108 |
| ], |
| "release_time_s": 17.218720590084615, |
| "support_clearance_m": 0.0002500067901610725, |
| "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": "spiral", |
| "approach_sway_m": 0.011958961037026416, |
| "depart_pattern": "lean", |
| "depart_sway_m": 0.005403729319733748, |
| "handling_noise_amplitude_m": 0.00916611698325136, |
| "handling_noise_frequency_hz": 1.3620641365099697, |
| "handling_noise_phase_xyz_rad": [ |
| 1.6380815419667785, |
| 4.875804326276345, |
| 6.037681664535339 |
| ], |
| "lift_height_m": 0.10190343938597526, |
| "orientation_noise_deg": 4.291372867928797, |
| "outbound_curve_bias": -0.05677387442698667, |
| "outbound_pattern": "loop", |
| "phase_boundaries_s": { |
| "final_hold": [ |
| 17.740287596284873, |
| 18.801852673962323 |
| ], |
| "initial_hold": [ |
| 0.0, |
| 1.29097362552457 |
| ], |
| "lift_from_rack": [ |
| 1.29097362552457, |
| 3.253137406131549 |
| ], |
| "lower_to_rack": [ |
| 16.14783025778309, |
| 17.740287596284873 |
| ], |
| "lower_to_vortex": [ |
| 6.262411146850964, |
| 7.694142874026934 |
| ], |
| "raise_from_vortex": [ |
| 12.128849652495703, |
| 13.036529231047249 |
| ], |
| "transfer_to_rack": [ |
| 13.036529231047249, |
| 16.14783025778309 |
| ], |
| "transfer_to_vortex": [ |
| 3.253137406131549, |
| 6.262411146850964 |
| ], |
| "vortex": [ |
| 7.694142874026934, |
| 12.128849652495703 |
| ] |
| }, |
| "pick_line_azimuth_deg": -15.1650106014431, |
| "pick_line_tilt_deg": 11.408501887827244, |
| "pick_pattern": "s_sway", |
| "pick_sway_m": -0.004905078351517295, |
| "put_pattern": "spiral", |
| "put_sway_m": 0.002726470083550704, |
| "rack_put_height_m": 0.09972563577155337, |
| "return_bend_scale": 0.4981267120628105, |
| "return_curve_bias": 0.39236335073118633, |
| "return_pattern": "late_swoop", |
| "return_side": -1.0, |
| "return_vertical_arc_scale": 1.1751127613966745, |
| "transfer_bend_m": 0.3242248114349131, |
| "transfer_side": 1.0, |
| "transport_tilt_deg": 16.887951233634375, |
| "vertical_arc_m": 0.15150392763078965, |
| "vortex_apparent_frequency_hz": 6.608484852566086, |
| "vortex_approach_height_m": 0.2321597572273057, |
| "vortex_depart_height_m": 0.1951992711157572, |
| "vortex_frequency_hz": 23.391515147433914, |
| "vortex_phase_rad": 1.7663239053480349, |
| "vortex_radius_m": 0.00047819909563923824, |
| "vortex_tilt_deg": 0.3539302321753001 |
| }, |
| "trajectory_validation": { |
| "duration_s": 18.801852673962323, |
| "final_position_error_m": 0.0, |
| "finite": true, |
| "max_boundary_angular_jump_deg": 0.0, |
| "max_boundary_position_jump_m": 5.149762648337517e-16, |
| "max_quaternion_norm_error": 2.220446049250313e-16, |
| "max_sample_step_m": 0.006276375495395687, |
| "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_rack", |
| "phase_fraction": 0.6199999999999999, |
| "release_time_s": 14.96553586762347, |
| "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": [ |
| -0.14489624967540113, |
| -0.16968850223957402, |
| 0.8152000000000001 |
| ], |
| "tube_start_position": [ |
| -0.19296442264082955, |
| -0.1708929721502219, |
| 0.8152000000000001 |
| ], |
| "video": "left.mp4", |
| "video_sha256": "e45bcd7c1a8654f46df3b75ab55d5e22924210a575dd863b9386fe4d53965de2", |
| "video_validation": { |
| "actual_frame_count": 564, |
| "content_valid": true, |
| "decode_error": null, |
| "expected_frame_count": 564, |
| "frame_count_valid": true, |
| "full_decode_frame_count": 564, |
| "max_changed_pixel_fraction": 0.009624131944444444, |
| "mean_luminance": 147.8636474609375, |
| "motion_valid": true, |
| "resolution_valid": true, |
| "sampled_frame_indices": [ |
| 0, |
| 94, |
| 188, |
| 282, |
| 375, |
| 469, |
| 563 |
| ], |
| "spatial_standard_deviation": 38.212154388427734, |
| "valid": true |
| }, |
| "view_index": 0, |
| "view_order": [ |
| "left", |
| "front", |
| "right" |
| ], |
| "vortex_contact_position": [ |
| -0.4639689726420708, |
| 0.3334654124864641, |
| 1.0070000000000001 |
| ], |
| "vortex_id": "VTX-001", |
| "vortex_position": [ |
| -0.43891741957212665, |
| 0.2829344349698578, |
| 0.79 |
| ], |
| "vortex_yaw_deg": 26.370661770526908, |
| "wrong_orientation": { |
| "azimuth_deg": 67.99589811709939, |
| "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": [ |
| 0.6274410061681218, |
| 0.11411345175509202, |
| 0.79 |
| ], |
| "rack_id": "TR-003", |
| "release_azimuth_deg": -138.25318650393757, |
| "release_lateral_offset_m": 0.019820521444363796, |
| "release_phase_fraction": 0.6724766223935651, |
| "release_tilt_deg": 31.257515359920077, |
| "release_time_s": 17.218720590084615, |
| "slot_offset_xy": [ |
| -0.04, |
| -0.019 |
| ], |
| "tube_target_position": [ |
| 0.5834965410802768, |
| 0.11958007668672668, |
| 0.8500000000000001 |
| ], |
| "yaw_deg": -32.49879796307471 |
| }, |
| "wrong_rack_physics": { |
| "fall_distance_m": 0.06122719627067352, |
| "falling_under_gravity_at_episode_end": false, |
| "final_angular_speed_deg_s": 0.009507376700639725, |
| "final_linear_speed_mps": 9.524333108856808e-06, |
| "final_linear_velocity_mps": [ |
| -1.0202631983702304e-06, |
| 8.081591431619017e-07, |
| -9.434980711375829e-06 |
| ], |
| "final_position_m": [ |
| 0.497854620218277, |
| 0.19784331321716309, |
| 0.8085987567901611 |
| ], |
| "final_protected_visual_minimum_z_m": 0.7902500067901611, |
| "final_state_valid": true, |
| "final_surface": "table", |
| "final_tilt_from_upright_deg": 89.99999979217156, |
| "first_impact_body": "wrong_rack", |
| "first_impact_linear_speed_mps": 0.48269137740135193, |
| "first_impact_position_m": [ |
| 0.5702184438705444, |
| 0.10854167491197586, |
| 0.8556933403015137 |
| ], |
| "first_impact_time_s": 17.266666666666666, |
| "hole_relation": "too_small", |
| "inside_wrong_rack_footprint": false, |
| "minimum_root_z_m": 0.8085984587669373, |
| "observed_outcome": "fell_to_table", |
| "overlaps_wrong_rack_footprint": false, |
| "planned_outcome": "physx_drop_pending", |
| "planned_release_azimuth_deg": -138.25318650393757, |
| "planned_release_lateral_offset_m": 0.019820521444363796, |
| "planned_release_tilt_deg": 31.257515359920077, |
| "post_release_scripted_control": false, |
| "release_angular_velocity_rad_s": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_height_above_rack_top_m": 0.01982565503761069, |
| "release_linear_velocity_mps": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "release_mode": "physx_gravity_from_rest", |
| "release_phase": "lower_to_rack", |
| "release_phase_fraction": 0.6724766223935651, |
| "release_position_m": [ |
| 0.5850064118119546, |
| 0.12173897312759062, |
| 0.8698256550376108 |
| ], |
| "release_time_s": 17.218720590084615, |
| "support_clearance_m": 0.0002500067901610725, |
| "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" |
| } |
| } |
|
|
