xspcz's picture
Add files using upload-large-folder tool
b11a94d verified
Raw History Blame Contribute Delete
28.8 kB
{
"background": {
"accent_color_rgb": [
0.1812435387283559,
0.5160777298019052,
0.7240956537305173
],
"cabinet_color_rgb": [
0.7345832587674233,
0.7833652863480034,
0.7997939395150895
],
"floor_color_rgb": [
0.26624632581583463,
0.32180360428913096,
0.442112491943094
],
"screen_color_rgb": [
0.5242884790913178,
0.7721560451422693,
0.9200547637896571
],
"style": "clean_room",
"wall_color_rgb": [
0.8135244884523399,
0.8417214158291131,
0.8385169601016516
]
},
"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": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.5340114498670979,
0.2191730713992025,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1145659073590135,
"yaw_deg": -100.68510137098595
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
0.86338855717624,
1.1541924058768418,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8947254823209728,
"yaw_deg": 78.56571121413515
},
{
"asset_id": "PIP-017",
"pitch_deg": 0.0,
"position": [
-0.3345662776577713,
-0.3136914866208065,
0.8066038462778711
],
"roll_deg": 91.23280498911285,
"surface": "main_table",
"uniform_scale": 0.9528903123000607,
"yaw_deg": 55.617110791105546
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
-0.6976313980649025,
-0.09578209328559462,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9240439960759491,
"yaw_deg": 90.60567820839583
},
{
"asset_id": "PIP-007",
"pitch_deg": 90.43036321900492,
"position": [
-0.5549984341950932,
-0.2436019245056055,
0.8100026793704999
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8987409848156578,
"yaw_deg": 158.910792069781
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
0.2397893856444432,
0.053968786787776,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9093340642336072,
"yaw_deg": 24.63849445028174
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
-0.10529746810632001,
-0.03943511094742336,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1318799928420287,
"yaw_deg": -124.46252404158804
}
],
"duration_s": 17.280417955482573,
"episode_id": 34,
"error_type": "wrong_rack",
"frame_count": 518,
"generation_success": true,
"light_color_rgb": [
0.9843822407750693,
0.92,
0.92
],
"light_intensity": 1898.7552399065069,
"liquid": {
"color_rgb": [
0.025120880354029873,
0.2857269016362493,
0.22155086167023344
],
"fill_fraction": 0.5480508078457534,
"opacity": 0.9354636829401417,
"vortex_level_rise_fraction": 0.2021344147854175
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.4022890521771054,
"direction_azimuth_deg": 161.26250846292538,
"lateral_speed_mps": 0.04040845454905686,
"phase": "lift_from_rack",
"phase_fraction": 0.30285629793588065,
"release_clearance_m": 0.004126605771503007,
"release_tilt_deg": 123.70005083606367,
"stage": "pickup",
"tip_duration_s": 0.31622900545889815,
"trigger_time_s": 1.4583498703030027,
"tube_detach_fraction": 0.46735498442354817,
"tube_engagement_fraction": 0.3392098489751106,
"tube_on_rack": true,
"upward_speed_mps": 0.0382781962376612
},
"rack_id": "TR-002",
"rack_position": [
0.2182767731824652,
-0.289612288180294,
0.79
],
"rack_yaw_deg": -32.86718016624202,
"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": "TIP-007",
"pitch_deg": 0.0,
"position": [
0.5340114498670979,
0.2191730713992025,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1145659073590135,
"yaw_deg": -100.68510137098595
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
0.86338855717624,
1.1541924058768418,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8947254823209728,
"yaw_deg": 78.56571121413515
},
{
"asset_id": "PIP-017",
"pitch_deg": 0.0,
"position": [
-0.3345662776577713,
-0.3136914866208065,
0.8066038462778711
],
"roll_deg": 91.23280498911285,
"surface": "main_table",
"uniform_scale": 0.9528903123000607,
"yaw_deg": 55.617110791105546
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
-0.6976313980649025,
-0.09578209328559462,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9240439960759491,
"yaw_deg": 90.60567820839583
},
{
"asset_id": "PIP-007",
"pitch_deg": 90.43036321900492,
"position": [
-0.5549984341950932,
-0.2436019245056055,
0.8100026793704999
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8987409848156578,
"yaw_deg": 158.910792069781
},
{
"asset_id": "TIP-004",
"pitch_deg": 0.0,
"position": [
0.2397893856444432,
0.053968786787776,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9093340642336072,
"yaw_deg": 24.63849445028174
},
{
"asset_id": "TR-005",
"pitch_deg": 0.0,
"position": [
-0.10529746810632001,
-0.03943511094742336,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1318799928420287,
"yaw_deg": -124.46252404158804
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.1812435387283559,
0.5160777298019052,
0.7240956537305173
],
"cabinet_color_rgb": [
0.7345832587674233,
0.7833652863480034,
0.7997939395150895
],
"floor_color_rgb": [
0.26624632581583463,
0.32180360428913096,
0.442112491943094
],
"screen_color_rgb": [
0.5242884790913178,
0.7721560451422693,
0.9200547637896571
],
"style": "clean_room",
"wall_color_rgb": [
0.8135244884523399,
0.8417214158291131,
0.8385169601016516
]
},
"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": [
0.9843822407750693,
0.92,
0.92
],
"light_intensity": 1898.7552399065069,
"table_color_rgb": [
0.18,
0.48,
0.28
]
},
"layout": {
"rack_position_m": [
0.2182767731824652,
-0.289612288180294,
0.79
],
"rack_to_vortex_bearing_deg": 142.0585018679625,
"rack_to_vortex_distance_m": 0.8646293943940283,
"rack_yaw_deg": -32.86718016624202,
"return_slot_offset_xy_m": [
0.0,
0.068
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.068,
0.068
],
"tube_return_position_m": [
0.255179925383305,
-0.23249698937479307,
0.8152000000000001
],
"tube_start_position_m": [
0.19806462657780408,
-0.1955938371739533,
0.8152000000000001
],
"vortex_contact_position_m": [
-0.4893351477553115,
0.29432539207148845,
1.0265
],
"vortex_position_m": [
-0.46360365666608816,
0.24201076346413603,
0.79
],
"vortex_yaw_deg": 26.387297542653457
},
"liquid": {
"color_rgb": [
0.025120880354029873,
0.2857269016362493,
0.22155086167023344
],
"effective_peak_level_fraction": 0.7501852226311709,
"effective_vortex_level_rise_fraction": 0.2021344147854175,
"fill_fraction": 0.5480508078457534,
"opacity": 0.9354636829401417,
"present": true,
"vortex_level_rise_fraction": 0.2021344147854175
},
"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": 26600910,
"trajectory": {
"approach_pattern": "hook",
"approach_sway_m": 0.007274529095021361,
"depart_pattern": "spiral",
"depart_sway_m": -0.0059714771712460705,
"handling_noise_amplitude_m": 0.006327767999319239,
"handling_noise_frequency_hz": 1.2399071515534024,
"handling_noise_phase_xyz_rad": [
0.12804278813647377,
2.7660108560772825,
1.7030626602274768
],
"lift_height_m": 0.13779711546203544,
"orientation_noise_deg": 1.6652790227485401,
"outbound_curve_bias": 0.1540882820855498,
"outbound_pattern": "wide_detour",
"phase_boundaries_s": {
"final_hold": [
16.183797162600996,
17.280417955482573
],
"initial_hold": [
0.0,
0.7566143175797889
],
"lift_from_rack": [
0.7566143175797889,
3.0736721351186604
],
"lower_to_rack": [
15.2879395606071,
16.183797162600996
],
"lower_to_vortex": [
5.477866272822588,
6.243261302605035
],
"raise_from_vortex": [
11.129625945264246,
12.573110760193707
],
"transfer_to_rack": [
12.573110760193707,
15.2879395606071
],
"transfer_to_vortex": [
3.0736721351186604,
5.477866272822588
],
"vortex": [
6.243261302605035,
11.129625945264246
]
},
"pick_line_azimuth_deg": -173.43340319815843,
"pick_line_tilt_deg": 7.1108780115845365,
"pick_pattern": "straight",
"pick_sway_m": 0.003475691775835508,
"put_pattern": "lean",
"put_sway_m": 0.0077468482403439285,
"rack_put_height_m": 0.28008480069526537,
"return_bend_scale": 1.3839133148233882,
"return_curve_bias": 0.4275596805125812,
"return_pattern": "direct",
"return_side": 1.0,
"return_vertical_arc_scale": 1.4872498858426633,
"transfer_bend_m": 0.2836959782486184,
"transfer_side": 1.0,
"transport_tilt_deg": 9.414452145814431,
"vertical_arc_m": 0.1508630532430234,
"vortex_apparent_frequency_hz": 6.618881306001327,
"vortex_approach_height_m": 0.232373249111351,
"vortex_depart_height_m": 0.24853159721934132,
"vortex_frequency_hz": 23.381118693998673,
"vortex_phase_rad": 5.257278494398738,
"vortex_radius_m": 0.0006043942822748349,
"vortex_tilt_deg": 0.49740512239237356
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
0.0,
0.068
],
"scene_id": "wrong_rack/scene_000034",
"schema_version": 15,
"seed": 26600910,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "446c05ad30119df00f3c6b04edc7b0a7cdac745119d11b0f0b1fe0cc0870578b",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.068,
0.068
],
"subtype_event": {
"category": "wrong_rack",
"event_phase": "lower_to_rack",
"event_time_s": 15.896286420188101,
"is_failure": true,
"randomized_parameters": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
0.6147059990387959,
-0.2606064786324504,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -173.20430868941003,
"release_lateral_offset_m": 0.018168868746358723,
"release_phase_fraction": 0.6790664701923762,
"release_tilt_deg": 22.98813759767949,
"release_time_s": 15.896286420188101,
"slot_offset_xy": [
0.04,
0.019
],
"tube_target_position": [
0.6525543062802206,
-0.2376172281235992,
0.8500000000000001
],
"yaw_deg": 5.86698600416176
},
"realized_outcome": {
"fall_distance_m": 0.0454743729086422,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 0.3577583432197571,
"final_linear_speed_mps": 0.0001181553743663244,
"final_linear_velocity_mps": [
-1.280003289139131e-05,
-6.542169285239652e-05,
-9.755436622072011e-05
],
"final_position_m": [
0.5809075236320496,
-0.2607404589653015,
0.8890470266342163
],
"final_protected_visual_minimum_z_m": 0.7902482552781662,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 135.78163045819537,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.3748582601547241,
"first_impact_position_m": [
0.612607479095459,
-0.24593918025493622,
0.8699315786361694
],
"first_impact_time_s": 16.216666666666665,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": true,
"minimum_root_z_m": 0.858356237411499,
"observed_outcome": "toppled_on_wrong_rack",
"overlaps_wrong_rack_footprint": true,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": -173.20430868941003,
"planned_release_lateral_offset_m": 0.018168868746358723,
"planned_release_tilt_deg": 22.98813759767949,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05383061032014114,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.6790664701923762,
"release_position_m": [
0.6497952568396894,
-0.24151614879752872,
0.9038306103201412
],
"release_time_s": 15.896286420188101,
"support_clearance_m": 0.0002482552781661873,
"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": [
0.18,
0.48,
0.28
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "hook",
"approach_sway_m": 0.007274529095021361,
"depart_pattern": "spiral",
"depart_sway_m": -0.0059714771712460705,
"handling_noise_amplitude_m": 0.006327767999319239,
"handling_noise_frequency_hz": 1.2399071515534024,
"handling_noise_phase_xyz_rad": [
0.12804278813647377,
2.7660108560772825,
1.7030626602274768
],
"lift_height_m": 0.13779711546203544,
"orientation_noise_deg": 1.6652790227485401,
"outbound_curve_bias": 0.1540882820855498,
"outbound_pattern": "wide_detour",
"phase_boundaries_s": {
"final_hold": [
16.183797162600996,
17.280417955482573
],
"initial_hold": [
0.0,
0.7566143175797889
],
"lift_from_rack": [
0.7566143175797889,
3.0736721351186604
],
"lower_to_rack": [
15.2879395606071,
16.183797162600996
],
"lower_to_vortex": [
5.477866272822588,
6.243261302605035
],
"raise_from_vortex": [
11.129625945264246,
12.573110760193707
],
"transfer_to_rack": [
12.573110760193707,
15.2879395606071
],
"transfer_to_vortex": [
3.0736721351186604,
5.477866272822588
],
"vortex": [
6.243261302605035,
11.129625945264246
]
},
"pick_line_azimuth_deg": -173.43340319815843,
"pick_line_tilt_deg": 7.1108780115845365,
"pick_pattern": "straight",
"pick_sway_m": 0.003475691775835508,
"put_pattern": "lean",
"put_sway_m": 0.0077468482403439285,
"rack_put_height_m": 0.28008480069526537,
"return_bend_scale": 1.3839133148233882,
"return_curve_bias": 0.4275596805125812,
"return_pattern": "direct",
"return_side": 1.0,
"return_vertical_arc_scale": 1.4872498858426633,
"transfer_bend_m": 0.2836959782486184,
"transfer_side": 1.0,
"transport_tilt_deg": 9.414452145814431,
"vertical_arc_m": 0.1508630532430234,
"vortex_apparent_frequency_hz": 6.618881306001327,
"vortex_approach_height_m": 0.232373249111351,
"vortex_depart_height_m": 0.24853159721934132,
"vortex_frequency_hz": 23.381118693998673,
"vortex_phase_rad": 5.257278494398738,
"vortex_radius_m": 0.0006043942822748349,
"vortex_tilt_deg": 0.49740512239237356
},
"trajectory_validation": {
"duration_s": 17.280417955482573,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 1.1161055004029252e-15,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.0038414341647524967,
"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": 0.42298981384847617,
"release_time_s": 4.090621765881643,
"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": [
0.255179925383305,
-0.23249698937479307,
0.8152000000000001
],
"tube_start_position": [
0.19806462657780408,
-0.1955938371739533,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "fded8e7d2a26fd208d184a4d40f0aec60a445422fdb7a4c3b2b84919dca4065e",
"video_validation": {
"actual_frame_count": 518,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 518,
"frame_count_valid": true,
"full_decode_frame_count": 518,
"max_changed_pixel_fraction": 0.01496310763888889,
"mean_luminance": 145.71780395507812,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
86,
172,
258,
345,
431,
517
],
"spatial_standard_deviation": 36.01531982421875,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.4893351477553115,
0.29432539207148845,
1.0265
],
"vortex_id": "VTX-003",
"vortex_position": [
-0.46360365666608816,
0.24201076346413603,
0.79
],
"vortex_yaw_deg": 26.387297542653457,
"wrong_orientation": {
"azimuth_deg": -106.64758889675906,
"mode": "tilted",
"tilt_deg_from_z": 39.33809810810336
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
0.6147059990387959,
-0.2606064786324504,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": -173.20430868941003,
"release_lateral_offset_m": 0.018168868746358723,
"release_phase_fraction": 0.6790664701923762,
"release_tilt_deg": 22.98813759767949,
"release_time_s": 15.896286420188101,
"slot_offset_xy": [
0.04,
0.019
],
"tube_target_position": [
0.6525543062802206,
-0.2376172281235992,
0.8500000000000001
],
"yaw_deg": 5.86698600416176
},
"wrong_rack_physics": {
"fall_distance_m": 0.0454743729086422,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 0.3577583432197571,
"final_linear_speed_mps": 0.0001181553743663244,
"final_linear_velocity_mps": [
-1.280003289139131e-05,
-6.542169285239652e-05,
-9.755436622072011e-05
],
"final_position_m": [
0.5809075236320496,
-0.2607404589653015,
0.8890470266342163
],
"final_protected_visual_minimum_z_m": 0.7902482552781662,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 135.78163045819537,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.3748582601547241,
"first_impact_position_m": [
0.612607479095459,
-0.24593918025493622,
0.8699315786361694
],
"first_impact_time_s": 16.216666666666665,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": true,
"minimum_root_z_m": 0.858356237411499,
"observed_outcome": "toppled_on_wrong_rack",
"overlaps_wrong_rack_footprint": true,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": -173.20430868941003,
"planned_release_lateral_offset_m": 0.018168868746358723,
"planned_release_tilt_deg": 22.98813759767949,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05383061032014114,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.6790664701923762,
"release_position_m": [
0.6497952568396894,
-0.24151614879752872,
0.9038306103201412
],
"release_time_s": 15.896286420188101,
"support_clearance_m": 0.0002482552781661873,
"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"
}
}