xspcz's picture
Add files using upload-large-folder tool
7c4d8e0 verified
Raw History Blame Contribute Delete
28.1 kB
{
"background": {
"accent_color_rgb": [
0.8225884801834019,
0.6941666153076744,
0.16605697683268636
],
"cabinet_color_rgb": [
0.6258089425028331,
0.6702122304471426,
0.6574953769939893
],
"floor_color_rgb": [
0.28333638890298346,
0.29420784728397675,
0.3210924732122703
],
"screen_color_rgb": [
0.28157482522538385,
0.7117877316548634,
0.8156790190515056
],
"style": "biosafety",
"wall_color_rgb": [
0.694253231611523,
0.8418934664415065,
0.8407317403714518
]
},
"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-008",
"pitch_deg": 0.0,
"position": [
-0.2933963877510024,
1.2326697229738917,
0.8422431705226155
],
"roll_deg": -89.47103081035256,
"surface": "rear_bench",
"uniform_scale": 0.7934574677442993,
"yaw_deg": -8.485493698783046
},
{
"asset_id": "PIP-001",
"pitch_deg": 0.0,
"position": [
0.008279121024274083,
-0.2512207129225561,
0.7981249511534424
],
"roll_deg": 87.85899920129383,
"surface": "main_table",
"uniform_scale": 0.837906720158504,
"yaw_deg": 100.75313783525286
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.41574697616554757,
0.31267683051033934,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9087180992935505,
"yaw_deg": 72.39544309829918
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
-0.7243115081916373,
-0.3229676500078277,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1434390556909393,
"yaw_deg": 24.15162384576422
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.017484121404036657,
0.1215421726089399,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1002294922555111,
"yaw_deg": 163.2868406102586
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
0.26832422845972925,
1.1486603523251167,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8176833932689894,
"yaw_deg": 49.26683326951047
}
],
"duration_s": 17.229954898112645,
"episode_id": 31,
"error_type": "wrong_rack",
"frame_count": 517,
"generation_success": true,
"light_color_rgb": [
0.9445859587441231,
0.92,
0.92
],
"light_intensity": 2557.901992843894,
"liquid": {
"color_rgb": [
0.3389102848868509,
0.10490802223935798,
0.16795993743827628
],
"fill_fraction": 0.5198364618248545,
"opacity": 0.9078699226775083,
"vortex_level_rise_fraction": 0.217053929939523
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.2956644408769455,
"direction_azimuth_deg": -99.28053971213842,
"lateral_speed_mps": 0.08039624738466494,
"phase": "lift_from_rack",
"phase_fraction": 0.3932631781777065,
"release_clearance_m": 0.011624269202731657,
"release_tilt_deg": 110.48949129116822,
"stage": "pickup",
"tip_duration_s": 0.41319468901429857,
"trigger_time_s": 1.7644970429446962,
"tube_detach_fraction": 0.4722294192590061,
"tube_engagement_fraction": 0.332766957621098,
"tube_on_rack": true,
"upward_speed_mps": 0.055506770491518004
},
"rack_id": "TR-004",
"rack_position": [
-0.5677907348872704,
0.17782883120163412,
0.79
],
"rack_yaw_deg": 2.932652692048336,
"randomization_results": {
"assets": {
"rack_id": "TR-004",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-001"
},
"distractors": {
"count": 6,
"placements": [
{
"asset_id": "PIP-008",
"pitch_deg": 0.0,
"position": [
-0.2933963877510024,
1.2326697229738917,
0.8422431705226155
],
"roll_deg": -89.47103081035256,
"surface": "rear_bench",
"uniform_scale": 0.7934574677442993,
"yaw_deg": -8.485493698783046
},
{
"asset_id": "PIP-001",
"pitch_deg": 0.0,
"position": [
0.008279121024274083,
-0.2512207129225561,
0.7981249511534424
],
"roll_deg": 87.85899920129383,
"surface": "main_table",
"uniform_scale": 0.837906720158504,
"yaw_deg": 100.75313783525286
},
{
"asset_id": "SBI-002",
"pitch_deg": 0.0,
"position": [
0.41574697616554757,
0.31267683051033934,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9087180992935505,
"yaw_deg": 72.39544309829918
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
-0.7243115081916373,
-0.3229676500078277,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1434390556909393,
"yaw_deg": 24.15162384576422
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
-0.017484121404036657,
0.1215421726089399,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1002294922555111,
"yaw_deg": 163.2868406102586
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
0.26832422845972925,
1.1486603523251167,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8176833932689894,
"yaw_deg": 49.26683326951047
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.8225884801834019,
0.6941666153076744,
0.16605697683268636
],
"cabinet_color_rgb": [
0.6258089425028331,
0.6702122304471426,
0.6574953769939893
],
"floor_color_rgb": [
0.28333638890298346,
0.29420784728397675,
0.3210924732122703
],
"screen_color_rgb": [
0.28157482522538385,
0.7117877316548634,
0.8156790190515056
],
"style": "biosafety",
"wall_color_rgb": [
0.694253231611523,
0.8418934664415065,
0.8407317403714518
]
},
"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": [
0.9445859587441231,
0.92,
0.92
],
"light_intensity": 2557.901992843894,
"table_color_rgb": [
0.26,
0.32,
0.42
]
},
"layout": {
"rack_position_m": [
-0.5677907348872704,
0.17782883120163412,
0.79
],
"rack_to_vortex_bearing_deg": -23.7680079535704,
"rack_to_vortex_distance_m": 0.9970294971839206,
"rack_yaw_deg": 2.932652692048336,
"return_slot_offset_xy_m": [
0.025,
0.0
],
"returns_to_different_slot": false,
"start_slot_offset_xy_m": [
0.025,
0.0
],
"tube_return_position_m": [
-0.5428234758313111,
0.17910788367617048,
0.8529
],
"tube_start_position_m": [
-0.5428234758313111,
0.17910788367617048,
0.8529
],
"vortex_contact_position_m": [
0.35110632341105136,
-0.16797612426317726,
1.0070000000000001
],
"vortex_position_m": [
0.3446755573353122,
-0.2240083047283271,
0.79
],
"vortex_yaw_deg": -6.547142322756919
},
"liquid": {
"color_rgb": [
0.3389102848868509,
0.10490802223935798,
0.16795993743827628
],
"effective_peak_level_fraction": 0.7368903917643775,
"effective_vortex_level_rise_fraction": 0.217053929939523,
"fill_fraction": 0.5198364618248545,
"opacity": 0.9078699226775083,
"present": true,
"vortex_level_rise_fraction": 0.217053929939523
},
"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": 26570909,
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": 0.011898500222735602,
"depart_pattern": "spiral",
"depart_sway_m": -0.009437868992111256,
"handling_noise_amplitude_m": 0.011697215646412878,
"handling_noise_frequency_hz": 2.748387849116718,
"handling_noise_phase_xyz_rad": [
2.577389532929159,
2.4743613533510764,
5.459510639580864
],
"lift_height_m": 0.11779879853236215,
"orientation_noise_deg": 2.8610315084835003,
"outbound_curve_bias": -0.2165305844947929,
"outbound_pattern": "high_arc",
"phase_boundaries_s": {
"final_hold": [
16.00168253895906,
17.229954898112645
],
"initial_hold": [
0.0,
1.008080444472038
],
"lift_from_rack": [
1.008080444472038,
2.931516556588416
],
"lower_to_rack": [
15.116170911177061,
16.00168253895906
],
"lower_to_vortex": [
6.069145851313815,
7.022442769310143
],
"raise_from_vortex": [
11.543582331618806,
12.974973019358128
],
"transfer_to_rack": [
12.974973019358128,
15.116170911177061
],
"transfer_to_vortex": [
2.931516556588416,
6.069145851313815
],
"vortex": [
7.022442769310143,
11.543582331618806
]
},
"pick_line_azimuth_deg": -93.63939136415559,
"pick_line_tilt_deg": 1.6058094024343474,
"pick_pattern": "spiral",
"pick_sway_m": -0.00632895342005819,
"put_pattern": "spiral",
"put_sway_m": -0.0027276255660745046,
"rack_put_height_m": 0.31240714903433275,
"return_bend_scale": 0.9456145255159429,
"return_curve_bias": -0.3117315278487143,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 1.2913576099073285,
"transfer_bend_m": 0.18795309773859176,
"transfer_side": -1.0,
"transport_tilt_deg": 6.155906902373336,
"vertical_arc_m": 0.05228580752326787,
"vortex_apparent_frequency_hz": 10.558997120347811,
"vortex_approach_height_m": 0.10250251101991713,
"vortex_depart_height_m": 0.3662633295716734,
"vortex_frequency_hz": 19.44100287965219,
"vortex_phase_rad": 2.1478954823485767,
"vortex_radius_m": 0.0005147157370968113,
"vortex_tilt_deg": 0.8031590784429182
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.025,
0.0
],
"scene_id": "wrong_rack/scene_000031",
"schema_version": 15,
"seed": 26570909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "fdf4d59509b3beda97b48f75319b22f708682e69dda87087e5f98feba694225d",
"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": 15.73225547607762,
"is_failure": true,
"randomized_parameters": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
-0.3741685259835005,
-0.260165641253439,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 95.44738638710015,
"release_lateral_offset_m": 0.022558065643469755,
"release_phase_fraction": 0.6957385375545088,
"release_tilt_deg": 22.0976575890519,
"release_time_s": 15.73225547607762,
"slot_offset_xy": [
-0.02,
-0.019
],
"tube_target_position": [
-0.3939011601125908,
-0.2794431709273225,
0.8500000000000001
],
"yaw_deg": 0.8004010182287402
},
"realized_outcome": {
"fall_distance_m": 0.04490263965691088,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 6.405779838562012,
"final_linear_speed_mps": 0.0045153070241212845,
"final_linear_velocity_mps": [
0.004381192848086357,
0.00039993354585021734,
-0.0010164645500481129
],
"final_position_m": [
-0.37068429589271545,
-0.2182673215866089,
0.8605223894119263
],
"final_protected_visual_minimum_z_m": 0.7902493203282049,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 116.6783149545328,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.7188083529472351,
"first_impact_position_m": [
-0.3994075059890747,
-0.23575346171855927,
0.8689019083976746
],
"first_impact_time_s": 16.075,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": true,
"minimum_root_z_m": 0.8578022122383118,
"observed_outcome": "toppled_on_wrong_rack",
"overlaps_wrong_rack_footprint": true,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": 95.44738638710015,
"planned_release_lateral_offset_m": 0.022558065643469755,
"planned_release_tilt_deg": 22.0976575890519,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05270485189522256,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.6957385375545088,
"release_position_m": [
-0.39301424472877866,
-0.2770861784934034,
0.9027048518952226
],
"release_time_s": 15.73225547607762,
"support_clearance_m": 0.000249320328204905,
"support_surface_z_m": 0.79,
"target_body": "wrong_rack",
"tube_root_below_rack_top": false,
"valid": true,
"visual_surface_nonpenetration_valid": true,
"wrong_rack_id": "TR-003"
}
},
"table_color_rgb": [
0.26,
0.32,
0.42
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": 0.011898500222735602,
"depart_pattern": "spiral",
"depart_sway_m": -0.009437868992111256,
"handling_noise_amplitude_m": 0.011697215646412878,
"handling_noise_frequency_hz": 2.748387849116718,
"handling_noise_phase_xyz_rad": [
2.577389532929159,
2.4743613533510764,
5.459510639580864
],
"lift_height_m": 0.11779879853236215,
"orientation_noise_deg": 2.8610315084835003,
"outbound_curve_bias": -0.2165305844947929,
"outbound_pattern": "high_arc",
"phase_boundaries_s": {
"final_hold": [
16.00168253895906,
17.229954898112645
],
"initial_hold": [
0.0,
1.008080444472038
],
"lift_from_rack": [
1.008080444472038,
2.931516556588416
],
"lower_to_rack": [
15.116170911177061,
16.00168253895906
],
"lower_to_vortex": [
6.069145851313815,
7.022442769310143
],
"raise_from_vortex": [
11.543582331618806,
12.974973019358128
],
"transfer_to_rack": [
12.974973019358128,
15.116170911177061
],
"transfer_to_vortex": [
2.931516556588416,
6.069145851313815
],
"vortex": [
7.022442769310143,
11.543582331618806
]
},
"pick_line_azimuth_deg": -93.63939136415559,
"pick_line_tilt_deg": 1.6058094024343474,
"pick_pattern": "spiral",
"pick_sway_m": -0.00632895342005819,
"put_pattern": "spiral",
"put_sway_m": -0.0027276255660745046,
"rack_put_height_m": 0.31240714903433275,
"return_bend_scale": 0.9456145255159429,
"return_curve_bias": -0.3117315278487143,
"return_pattern": "crescent",
"return_side": -1.0,
"return_vertical_arc_scale": 1.2913576099073285,
"transfer_bend_m": 0.18795309773859176,
"transfer_side": -1.0,
"transport_tilt_deg": 6.155906902373336,
"vertical_arc_m": 0.05228580752326787,
"vortex_apparent_frequency_hz": 10.558997120347811,
"vortex_approach_height_m": 0.10250251101991713,
"vortex_depart_height_m": 0.3662633295716734,
"vortex_frequency_hz": 19.44100287965219,
"vortex_phase_rad": 2.1478954823485767,
"vortex_radius_m": 0.0005147157370968113,
"vortex_tilt_deg": 0.8031590784429182
},
"trajectory_validation": {
"duration_s": 17.229954898112645,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 5.978733960281817e-16,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.003464427864795948,
"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": 0.37087031764997247,
"release_time_s": 13.769079761648467,
"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": [
-0.5428234758313111,
0.17910788367617048,
0.8529
],
"tube_start_position": [
-0.5428234758313111,
0.17910788367617048,
0.8529
],
"video": "front.mp4",
"video_sha256": "80b0fc1560159b89830a1a003696510a91972f25587f809968d2e4e9c877271f",
"video_validation": {
"actual_frame_count": 517,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 517,
"frame_count_valid": true,
"full_decode_frame_count": 517,
"max_changed_pixel_fraction": 0.01178298611111111,
"mean_luminance": 148.53536987304688,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
86,
172,
258,
344,
430,
516
],
"spatial_standard_deviation": 36.836421966552734,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.35110632341105136,
-0.16797612426317726,
1.0070000000000001
],
"vortex_id": "VTX-001",
"vortex_position": [
0.3446755573353122,
-0.2240083047283271,
0.79
],
"vortex_yaw_deg": -6.547142322756919,
"wrong_orientation": {
"azimuth_deg": -66.57518779491019,
"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": [
-0.3741685259835005,
-0.260165641253439,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 95.44738638710015,
"release_lateral_offset_m": 0.022558065643469755,
"release_phase_fraction": 0.6957385375545088,
"release_tilt_deg": 22.0976575890519,
"release_time_s": 15.73225547607762,
"slot_offset_xy": [
-0.02,
-0.019
],
"tube_target_position": [
-0.3939011601125908,
-0.2794431709273225,
0.8500000000000001
],
"yaw_deg": 0.8004010182287402
},
"wrong_rack_physics": {
"fall_distance_m": 0.04490263965691088,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 6.405779838562012,
"final_linear_speed_mps": 0.0045153070241212845,
"final_linear_velocity_mps": [
0.004381192848086357,
0.00039993354585021734,
-0.0010164645500481129
],
"final_position_m": [
-0.37068429589271545,
-0.2182673215866089,
0.8605223894119263
],
"final_protected_visual_minimum_z_m": 0.7902493203282049,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 116.6783149545328,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.7188083529472351,
"first_impact_position_m": [
-0.3994075059890747,
-0.23575346171855927,
0.8689019083976746
],
"first_impact_time_s": 16.075,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": true,
"minimum_root_z_m": 0.8578022122383118,
"observed_outcome": "toppled_on_wrong_rack",
"overlaps_wrong_rack_footprint": true,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": 95.44738638710015,
"planned_release_lateral_offset_m": 0.022558065643469755,
"planned_release_tilt_deg": 22.0976575890519,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05270485189522256,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.6957385375545088,
"release_position_m": [
-0.39301424472877866,
-0.2770861784934034,
0.9027048518952226
],
"release_time_s": 15.73225547607762,
"support_clearance_m": 0.000249320328204905,
"support_surface_z_m": 0.79,
"target_body": "wrong_rack",
"tube_root_below_rack_top": false,
"valid": true,
"visual_surface_nonpenetration_valid": true,
"wrong_rack_id": "TR-003"
}
}