xspcz's picture
Add files using upload-large-folder tool
b11a94d verified
Raw History Blame Contribute Delete
28.8 kB
{
"background": {
"accent_color_rgb": [
0.6971451639584466,
0.31992231186415826,
0.7007735725921228
],
"cabinet_color_rgb": [
0.2565278020483133,
0.3175351728481612,
0.3276941819967216
],
"floor_color_rgb": [
0.20188503793006676,
0.16582746847258473,
0.2293479521632486
],
"screen_color_rgb": [
0.2554762148613114,
0.6962566948262728,
0.904873896876365
],
"style": "instrument_bay",
"wall_color_rgb": [
0.30225487065750967,
0.40116387668059716,
0.47185066898185113
]
},
"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": "RES-009",
"pitch_deg": 0.0,
"position": [
0.4989198113145725,
-0.2351624234465341,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1309933786816742,
"yaw_deg": 145.45601797859428
},
{
"asset_id": "PIP-007",
"pitch_deg": 86.18267604007546,
"position": [
-0.06031994934806528,
-0.00058424773666238,
0.810600308306274
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9262814887683886,
"yaw_deg": -111.63374735219976
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
-0.6255783216065461,
0.30216657531300567,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0971673081216047,
"yaw_deg": -5.600011467055509
},
{
"asset_id": "PIP-008",
"pitch_deg": -91.79159673077146,
"position": [
0.5769730154620143,
0.02676851767133137,
0.7996959393009604
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9995586196695978,
"yaw_deg": -165.88314660586772
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
-0.053554158758312265,
1.1800438998218683,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1633435743178888,
"yaw_deg": 165.65680873436798
},
{
"asset_id": "RES-010",
"pitch_deg": 0.0,
"position": [
0.9162149642945174,
1.0370403936639068,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8869068492343356,
"yaw_deg": -22.048418598047903
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
-0.2482152137471974,
0.16129358690708206,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9061763208394649,
"yaw_deg": -67.88144636342784
}
],
"duration_s": 14.716120639480144,
"episode_id": 40,
"error_type": "wrong_rack",
"frame_count": 441,
"generation_success": true,
"light_color_rgb": [
0.92,
0.92,
0.9264906890814418
],
"light_intensity": 2121.216349400507,
"liquid": {
"color_rgb": [
0.3674806975675435,
0.22014525318712966,
0.023998129877971057
],
"fill_fraction": 0.5070666052199247,
"opacity": 0.8531727120843642,
"vortex_level_rise_fraction": 0.2138238232365337
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.7487413187414615,
"direction_azimuth_deg": -107.40086158847065,
"lateral_speed_mps": 0.07591637032370266,
"phase": "lift_from_rack",
"phase_fraction": 0.3179783858970513,
"release_clearance_m": 0.0070169740620767,
"release_tilt_deg": 114.98595487510758,
"stage": "pickup",
"tip_duration_s": 0.35739814996264146,
"trigger_time_s": 1.481510671505651,
"tube_detach_fraction": 0.615237051170993,
"tube_engagement_fraction": 0.4490324791638374,
"tube_on_rack": true,
"upward_speed_mps": 0.08310038490611059
},
"rack_id": "TR-002",
"rack_position": [
0.2689683121251113,
-0.09553562512813019,
0.79
],
"rack_yaw_deg": -52.144864344302995,
"randomization_results": {
"assets": {
"rack_id": "TR-002",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-005",
"vortex_id": "VTX-003"
},
"distractors": {
"count": 7,
"placements": [
{
"asset_id": "RES-009",
"pitch_deg": 0.0,
"position": [
0.4989198113145725,
-0.2351624234465341,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.1309933786816742,
"yaw_deg": 145.45601797859428
},
{
"asset_id": "PIP-007",
"pitch_deg": 86.18267604007546,
"position": [
-0.06031994934806528,
-0.00058424773666238,
0.810600308306274
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9262814887683886,
"yaw_deg": -111.63374735219976
},
{
"asset_id": "AUX-TR-004",
"pitch_deg": 0.0,
"position": [
-0.6255783216065461,
0.30216657531300567,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0971673081216047,
"yaw_deg": -5.600011467055509
},
{
"asset_id": "PIP-008",
"pitch_deg": -91.79159673077146,
"position": [
0.5769730154620143,
0.02676851767133137,
0.7996959393009604
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9995586196695978,
"yaw_deg": -165.88314660586772
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
-0.053554158758312265,
1.1800438998218683,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.1633435743178888,
"yaw_deg": 165.65680873436798
},
{
"asset_id": "RES-010",
"pitch_deg": 0.0,
"position": [
0.9162149642945174,
1.0370403936639068,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 0.8869068492343356,
"yaw_deg": -22.048418598047903
},
{
"asset_id": "TIP-006",
"pitch_deg": 0.0,
"position": [
-0.2482152137471974,
0.16129358690708206,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.9061763208394649,
"yaw_deg": -67.88144636342784
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.6971451639584466,
0.31992231186415826,
0.7007735725921228
],
"cabinet_color_rgb": [
0.2565278020483133,
0.3175351728481612,
0.3276941819967216
],
"floor_color_rgb": [
0.20188503793006676,
0.16582746847258473,
0.2293479521632486
],
"screen_color_rgb": [
0.2554762148613114,
0.6962566948262728,
0.904873896876365
],
"style": "instrument_bay",
"wall_color_rgb": [
0.30225487065750967,
0.40116387668059716,
0.47185066898185113
]
},
"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,
0.9264906890814418
],
"light_intensity": 2121.216349400507,
"table_color_rgb": [
0.26,
0.32,
0.42
]
},
"layout": {
"rack_position_m": [
0.2689683121251113,
-0.09553562512813019,
0.79
],
"rack_to_vortex_bearing_deg": -166.48717417875866,
"rack_to_vortex_distance_m": 0.591374270936031,
"rack_yaw_deg": -52.144864344302995,
"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": [
0.28092935654269985,
-0.00011585036188754838,
0.8152000000000001
],
"tube_start_position_m": [
0.28385247250348056,
-0.17009071730720932,
0.8152000000000001
],
"vortex_contact_position_m": [
-0.2959789152729699,
-0.1762914634465847,
1.0265
],
"vortex_position_m": [
-0.3060353225407162,
-0.2337179266222428,
0.79
],
"vortex_yaw_deg": -9.736251051295426
},
"liquid": {
"color_rgb": [
0.3674806975675435,
0.22014525318712966,
0.023998129877971057
],
"effective_peak_level_fraction": 0.7208904284564585,
"effective_vortex_level_rise_fraction": 0.2138238232365337,
"fill_fraction": 0.5070666052199247,
"opacity": 0.8531727120843642,
"present": true,
"vortex_level_rise_fraction": 0.2138238232365337
},
"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": 26660909,
"trajectory": {
"approach_pattern": "spiral",
"approach_sway_m": 0.01098075541196591,
"depart_pattern": "hook",
"depart_sway_m": 0.005558719250460904,
"handling_noise_amplitude_m": 0.005587701795984057,
"handling_noise_frequency_hz": 0.9629128398295907,
"handling_noise_phase_xyz_rad": [
5.365174994927954,
5.994404878019261,
5.584450759422594
],
"lift_height_m": 0.10217009773716906,
"orientation_noise_deg": 2.8577314441870736,
"outbound_curve_bias": -0.40390090617287927,
"outbound_pattern": "crescent",
"phase_boundaries_s": {
"final_hold": [
13.777688603293525,
14.716120639480144
],
"initial_hold": [
0.0,
0.9779763488944825
],
"lift_from_rack": [
0.9779763488944825,
2.561525247007931
],
"lower_to_rack": [
13.170940282008877,
13.777688603293525
],
"lower_to_vortex": [
4.709487477252228,
5.6447108403733015
],
"raise_from_vortex": [
9.139927733800949,
10.100429088627623
],
"transfer_to_rack": [
10.100429088627623,
13.170940282008877
],
"transfer_to_vortex": [
2.561525247007931,
4.709487477252228
],
"vortex": [
5.6447108403733015,
9.139927733800949
]
},
"pick_line_azimuth_deg": 85.24297220323746,
"pick_line_tilt_deg": 9.871080354808154,
"pick_pattern": "lean",
"pick_sway_m": -0.009941332411522135,
"put_pattern": "s_sway",
"put_sway_m": 0.008065972328137695,
"rack_put_height_m": 0.2536860911527817,
"return_bend_scale": 1.1929873498393906,
"return_curve_bias": -0.5912153540437866,
"return_pattern": "high_arc",
"return_side": -1.0,
"return_vertical_arc_scale": 1.0054745694729201,
"transfer_bend_m": 0.09662804929975839,
"transfer_side": -1.0,
"transport_tilt_deg": 13.425728114338744,
"vertical_arc_m": 0.26607844579848156,
"vortex_apparent_frequency_hz": 5.765021348251828,
"vortex_approach_height_m": 0.2493797487374565,
"vortex_depart_height_m": 0.09154881845785351,
"vortex_frequency_hz": 24.234978651748172,
"vortex_phase_rad": 0.3591281762905807,
"vortex_radius_m": 0.0007479086030846158,
"vortex_tilt_deg": 0.8843436542779936
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
-0.068,
0.068
],
"scene_id": "wrong_rack/scene_000040",
"schema_version": 15,
"seed": 26660909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "c8e9620fffaca890de958c5e45c453193abfadb8794dc2d17c2547838ed3c6a7",
"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": 13.64291018379149,
"is_failure": true,
"randomized_parameters": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
0.6773431009974326,
0.29595664627843465,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 162.6622100009688,
"release_lateral_offset_m": 0.01997160662629449,
"release_phase_fraction": 0.7778676680692354,
"release_tilt_deg": 36.590868296142645,
"release_time_s": 13.64291018379149,
"slot_offset_xy": [
-0.04,
0.0
],
"tube_target_position": [
0.6485958731917395,
0.26814303641765624,
0.8500000000000001
],
"yaw_deg": 44.054336662947705
},
"realized_outcome": {
"fall_distance_m": 0.061025740043283316,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 2.1494643688201904,
"final_linear_speed_mps": 0.00072479184018448,
"final_linear_velocity_mps": [
-0.00036342727253213525,
-0.0006266622804105282,
-2.31991070904769e-05
],
"final_position_m": [
0.5948876142501831,
0.24066883325576782,
0.8083625435829163
],
"final_protected_visual_minimum_z_m": 0.7902499935071525,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 90.00001912753319,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.48269137740135193,
"first_impact_position_m": [
0.6290013790130615,
0.27777111530303955,
0.855247437953949
],
"first_impact_time_s": 13.691666666666666,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8083540201187134,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": false,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": 162.6622100009688,
"planned_release_lateral_offset_m": 0.01997160662629449,
"planned_release_tilt_deg": 36.590868296142645,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.019379760161996606,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.7778676680692354,
"release_position_m": [
0.6480655521034753,
0.2718194904001674,
0.8693797601619967
],
"release_time_s": 13.64291018379149,
"support_clearance_m": 0.0002499935071524906,
"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": [
0.26,
0.32,
0.42
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "spiral",
"approach_sway_m": 0.01098075541196591,
"depart_pattern": "hook",
"depart_sway_m": 0.005558719250460904,
"handling_noise_amplitude_m": 0.005587701795984057,
"handling_noise_frequency_hz": 0.9629128398295907,
"handling_noise_phase_xyz_rad": [
5.365174994927954,
5.994404878019261,
5.584450759422594
],
"lift_height_m": 0.10217009773716906,
"orientation_noise_deg": 2.8577314441870736,
"outbound_curve_bias": -0.40390090617287927,
"outbound_pattern": "crescent",
"phase_boundaries_s": {
"final_hold": [
13.777688603293525,
14.716120639480144
],
"initial_hold": [
0.0,
0.9779763488944825
],
"lift_from_rack": [
0.9779763488944825,
2.561525247007931
],
"lower_to_rack": [
13.170940282008877,
13.777688603293525
],
"lower_to_vortex": [
4.709487477252228,
5.6447108403733015
],
"raise_from_vortex": [
9.139927733800949,
10.100429088627623
],
"transfer_to_rack": [
10.100429088627623,
13.170940282008877
],
"transfer_to_vortex": [
2.561525247007931,
4.709487477252228
],
"vortex": [
5.6447108403733015,
9.139927733800949
]
},
"pick_line_azimuth_deg": 85.24297220323746,
"pick_line_tilt_deg": 9.871080354808154,
"pick_pattern": "lean",
"pick_sway_m": -0.009941332411522135,
"put_pattern": "s_sway",
"put_sway_m": 0.008065972328137695,
"rack_put_height_m": 0.2536860911527817,
"return_bend_scale": 1.1929873498393906,
"return_curve_bias": -0.5912153540437866,
"return_pattern": "high_arc",
"return_side": -1.0,
"return_vertical_arc_scale": 1.0054745694729201,
"transfer_bend_m": 0.09662804929975839,
"transfer_side": -1.0,
"transport_tilt_deg": 13.425728114338744,
"vertical_arc_m": 0.26607844579848156,
"vortex_apparent_frequency_hz": 5.765021348251828,
"vortex_approach_height_m": 0.2493797487374565,
"vortex_depart_height_m": 0.09154881845785351,
"vortex_frequency_hz": 24.234978651748172,
"vortex_phase_rad": 0.3591281762905807,
"vortex_radius_m": 0.0007479086030846158,
"vortex_tilt_deg": 0.8843436542779936
},
"trajectory_validation": {
"duration_s": 14.716120639480144,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 6.866350197783356e-16,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.003318873213347838,
"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": 0.18,
"release_time_s": 2.9481584484519043,
"target_surface": "table",
"vortex_release_azimuth_deg": 0.0,
"vortex_release_offset_m": 0.0,
"vortex_release_tilt_deg": 0.0
},
"tube_id": "CT-005",
"tube_return_position": [
0.28092935654269985,
-0.00011585036188754838,
0.8152000000000001
],
"tube_start_position": [
0.28385247250348056,
-0.17009071730720932,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "5d0907277c75ff217b3c633663684bd8c6f93694cbe8f9313d054a815f4e8819",
"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": 0.011742621527777778,
"mean_luminance": 108.24237060546875,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
73,
147,
220,
293,
367,
440
],
"spatial_standard_deviation": 35.22334671020508,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
-0.2959789152729699,
-0.1762914634465847,
1.0265
],
"vortex_id": "VTX-003",
"vortex_position": [
-0.3060353225407162,
-0.2337179266222428,
0.79
],
"vortex_yaw_deg": -9.736251051295426,
"wrong_orientation": {
"azimuth_deg": -64.63807013091886,
"mode": "tilted",
"tilt_deg_from_z": 43.13997863257097
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
0.6773431009974326,
0.29595664627843465,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 162.6622100009688,
"release_lateral_offset_m": 0.01997160662629449,
"release_phase_fraction": 0.7778676680692354,
"release_tilt_deg": 36.590868296142645,
"release_time_s": 13.64291018379149,
"slot_offset_xy": [
-0.04,
0.0
],
"tube_target_position": [
0.6485958731917395,
0.26814303641765624,
0.8500000000000001
],
"yaw_deg": 44.054336662947705
},
"wrong_rack_physics": {
"fall_distance_m": 0.061025740043283316,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 2.1494643688201904,
"final_linear_speed_mps": 0.00072479184018448,
"final_linear_velocity_mps": [
-0.00036342727253213525,
-0.0006266622804105282,
-2.31991070904769e-05
],
"final_position_m": [
0.5948876142501831,
0.24066883325576782,
0.8083625435829163
],
"final_protected_visual_minimum_z_m": 0.7902499935071525,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 90.00001912753319,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.48269137740135193,
"first_impact_position_m": [
0.6290013790130615,
0.27777111530303955,
0.855247437953949
],
"first_impact_time_s": 13.691666666666666,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8083540201187134,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": false,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": 162.6622100009688,
"planned_release_lateral_offset_m": 0.01997160662629449,
"planned_release_tilt_deg": 36.590868296142645,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.019379760161996606,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.7778676680692354,
"release_position_m": [
0.6480655521034753,
0.2718194904001674,
0.8693797601619967
],
"release_time_s": 13.64291018379149,
"support_clearance_m": 0.0002499935071524906,
"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"
}
}