xspcz's picture
Add files using upload-large-folder tool
b11a94d verified
Raw History Blame Contribute Delete
30.2 kB
{
"background": {
"accent_color_rgb": [
0.6823646265064882,
0.36472106835704443,
0.7501784365765218
],
"cabinet_color_rgb": [
0.26540617217370827,
0.32999583200398636,
0.3862238531810163
],
"floor_color_rgb": [
0.14118548912020634,
0.2291477312082661,
0.2682492717075502
],
"screen_color_rgb": [
0.2448734442544498,
0.7225717385217387,
0.8810255149468514
],
"style": "instrument_bay",
"wall_color_rgb": [
0.30577266017327626,
0.4047225110839174,
0.4639275774778442
]
},
"camera_calibration": {
"K_px": [
[
1000.0000000000001,
0.0,
960.0
],
[
0.0,
1000.0000000000001,
600.0
],
[
0.0,
0.0,
1.0
]
],
"T_camera_from_world": [
[
0.9941431609633316,
-0.050371159170527244,
0.09561444364557488,
-0.13621816616963933
],
[
0.04615070711837635,
-0.6021328411238784,
-0.7970609474014897,
0.9842744682742511
],
[
0.09772148045496064,
0.7968053639151181,
-0.5962815813806319,
2.012050955625201
],
[
0.0,
0.0,
0.0,
1.0
]
],
"T_world_from_camera": [
[
0.9941431609633316,
0.04615070711837635,
0.09772148045496064,
-0.1066252025474199
],
[
-0.050371159170527244,
-0.6021328411238784,
0.7968053639151181,
-1.0174104788150782
],
[
0.09561444364557488,
-0.7970609474014897,
-0.5962815813806319,
1.9973000899971087
],
[
0.0,
0.0,
0.0,
1.0
]
],
"calibration_status": "approximate_reference_fit_not_metric_calibration",
"clipping_range_m": [
0.05,
5.0
],
"fixed_across_episodes": true,
"lens_model": "pinhole_zero_distortion",
"optical_frame": "ROS/OpenCV: +X right, +Y down, +Z forward; quaternions XYZW",
"resolution_px": [
1920,
1200
],
"rig_id": "zed_reference_20260908_v1",
"view": "front",
"world_frame": "Environment-local metres, +Z up; environment spacing translation excluded"
},
"camera_calibration_status": "approximate_reference_fit_not_metric_calibration",
"camera_coverage": {
"all_views_before_physics_release": true,
"at_least_one_view_every_frame": true,
"occlusion_tested": false,
"per_view_in_frame_fraction": {
"front": 1.0,
"left": 1.0,
"right": 1.0
},
"policy": "Full tube envelope in all views during controlled motion; after free release at least one view. Per-frame masks disclose any view exits."
},
"camera_eye": [
-0.1066252025474199,
-1.0174104788150782,
1.9973000899971087
],
"camera_focal_length_mm": 10.9140625,
"camera_orientation_xyzw": [
0.8933864762055448,
-0.001181026399144831,
0.05410198420556066,
-0.4460181438178333
],
"camera_rig_id": "zed_reference_20260908_v1",
"camera_sensor_verification": {
"actual_K": [
[
1000.0,
0.0,
960.0
],
[
0.0,
1000.0,
600.0
],
[
0.0,
0.0,
1.0
]
],
"actual_eye_m": [
-0.10662519931793213,
-1.0174105167388916,
1.997300148010254
],
"actual_quaternion_xyzw": [
-0.8933864831924438,
0.0011809766292572021,
-0.05410196632146835,
0.44601812958717346
],
"valid": true
},
"camera_target": [
-0.008903722092459265,
-0.22060511489996004,
1.4010185086164768
],
"camera_view": "front",
"distractors": [
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
-0.6954883364486545,
-0.008343403076192024,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8536046693365489,
"yaw_deg": -159.88778141390472
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.03376317626867453,
1.1878675458064263,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0297605388116597,
"yaw_deg": 20.74415554008425
},
{
"asset_id": "RES-010",
"pitch_deg": 0.0,
"position": [
-0.07074697420310905,
-0.3368940635889864,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0725359639610892,
"yaw_deg": -23.22222804147691
},
{
"asset_id": "PIP-008",
"pitch_deg": 0.0,
"position": [
-0.16095934492876263,
0.3077985912931084,
0.8029704489451616
],
"roll_deg": -86.23459691788524,
"surface": "main_table",
"uniform_scale": 0.8425979017001027,
"yaw_deg": -99.66503090663375
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
-0.49215113614747524,
-0.22534226960464016,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0717900465879175,
"yaw_deg": 31.351846070291856
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
-0.01590256520135025,
0.22851509657303537,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.018420388123554,
"yaw_deg": -21.42922775581951
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.773537349803586,
1.149828830627864,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0325891134664857,
"yaw_deg": -45.04997935783632
},
{
"asset_id": "PIP-001",
"pitch_deg": 0.0,
"position": [
-0.6043134147455442,
1.1237346724057709,
0.8381667777309761
],
"roll_deg": 89.27883361710212,
"surface": "rear_bench",
"uniform_scale": 0.8425030473600184,
"yaw_deg": -97.86823179503759
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
0.5982649697775619,
-0.27793289529407134,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8716815382096931,
"yaw_deg": -105.44704056030879
}
],
"duration_s": 16.284018518677495,
"episode_id": 42,
"error_type": "wrong_rack",
"frame_count": 489,
"generation_success": true,
"light_color_rgb": [
0.9445059792388397,
0.92,
0.92
],
"light_intensity": 2127.924540595018,
"liquid": {
"color_rgb": [
0.3260697726974432,
0.08720131796072284,
0.17550653747229844
],
"fill_fraction": 0.4209134940095999,
"opacity": 0.8284575191006169,
"vortex_level_rise_fraction": 0.20763775761187936
},
"metadata_schema_version": 2,
"outcome": "failure",
"physics_scene_count": 1,
"rack_flip": {
"angular_speed_rad_s": 2.113719664833993,
"direction_azimuth_deg": -101.55325516531207,
"lateral_speed_mps": 0.0835136796336157,
"phase": "lower_to_rack",
"phase_fraction": 0.8004358824107403,
"release_clearance_m": 0.00844391739872541,
"release_tilt_deg": 135.88123181057705,
"stage": "insertion",
"tip_duration_s": 0.41537321840665514,
"trigger_time_s": 15.159548361915197,
"tube_detach_fraction": 0.5936467751038046,
"tube_engagement_fraction": 0.4022419131123708,
"tube_on_rack": true,
"upward_speed_mps": 0.06309413804611425
},
"rack_id": "TR-002",
"rack_position": [
-0.5070196196426067,
0.154191872819526,
0.79
],
"rack_yaw_deg": 48.78974261979356,
"randomization_results": {
"assets": {
"rack_id": "TR-002",
"source_tube_has_cap": true,
"tube_cap_present": true,
"tube_id": "CT-009",
"vortex_id": "VTX-005"
},
"distractors": {
"count": 9,
"placements": [
{
"asset_id": "TR-008",
"pitch_deg": 0.0,
"position": [
-0.6954883364486545,
-0.008343403076192024,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8536046693365489,
"yaw_deg": -159.88778141390472
},
{
"asset_id": "RES-008",
"pitch_deg": 0.0,
"position": [
-0.03376317626867453,
1.1878675458064263,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0297605388116597,
"yaw_deg": 20.74415554008425
},
{
"asset_id": "RES-010",
"pitch_deg": 0.0,
"position": [
-0.07074697420310905,
-0.3368940635889864,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0725359639610892,
"yaw_deg": -23.22222804147691
},
{
"asset_id": "PIP-008",
"pitch_deg": 0.0,
"position": [
-0.16095934492876263,
0.3077985912931084,
0.8029704489451616
],
"roll_deg": -86.23459691788524,
"surface": "main_table",
"uniform_scale": 0.8425979017001027,
"yaw_deg": -99.66503090663375
},
{
"asset_id": "SBI-004",
"pitch_deg": 0.0,
"position": [
-0.49215113614747524,
-0.22534226960464016,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.0717900465879175,
"yaw_deg": 31.351846070291856
},
{
"asset_id": "RES-001",
"pitch_deg": 0.0,
"position": [
-0.01590256520135025,
0.22851509657303537,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 1.018420388123554,
"yaw_deg": -21.42922775581951
},
{
"asset_id": "TIP-008",
"pitch_deg": 0.0,
"position": [
0.773537349803586,
1.149828830627864,
0.83
],
"roll_deg": 0.0,
"surface": "rear_bench",
"uniform_scale": 1.0325891134664857,
"yaw_deg": -45.04997935783632
},
{
"asset_id": "PIP-001",
"pitch_deg": 0.0,
"position": [
-0.6043134147455442,
1.1237346724057709,
0.8381667777309761
],
"roll_deg": 89.27883361710212,
"surface": "rear_bench",
"uniform_scale": 0.8425030473600184,
"yaw_deg": -97.86823179503759
},
{
"asset_id": "SBI-006",
"pitch_deg": 0.0,
"position": [
0.5982649697775619,
-0.27793289529407134,
0.79
],
"roll_deg": 0.0,
"surface": "main_table",
"uniform_scale": 0.8716815382096931,
"yaw_deg": -105.44704056030879
}
]
},
"environment": {
"background": {
"accent_color_rgb": [
0.6823646265064882,
0.36472106835704443,
0.7501784365765218
],
"cabinet_color_rgb": [
0.26540617217370827,
0.32999583200398636,
0.3862238531810163
],
"floor_color_rgb": [
0.14118548912020634,
0.2291477312082661,
0.2682492717075502
],
"screen_color_rgb": [
0.2448734442544498,
0.7225717385217387,
0.8810255149468514
],
"style": "instrument_bay",
"wall_color_rgb": [
0.30577266017327626,
0.4047225110839174,
0.4639275774778442
]
},
"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": [
0.9445059792388397,
0.92,
0.92
],
"light_intensity": 2127.924540595018,
"table_color_rgb": [
0.18,
0.48,
0.28
]
},
"layout": {
"rack_position_m": [
-0.5070196196426067,
0.154191872819526,
0.79
],
"rack_to_vortex_bearing_deg": -4.162521514917696,
"rack_to_vortex_distance_m": 0.8159329190455962,
"rack_yaw_deg": 48.78974261979356,
"return_slot_offset_xy_m": [
-0.068,
-0.034
],
"returns_to_different_slot": true,
"start_slot_offset_xy_m": [
-0.034,
-0.034
],
"tube_return_position_m": [
-0.5262415647418582,
0.08063565740164744,
0.8152000000000001
],
"tube_start_position_m": [
-0.5038415436185819,
0.10621375454894855,
0.8152000000000001
],
"vortex_contact_position_m": [
0.3019483289933694,
0.13344967562500268,
0.9580000000000001
],
"vortex_position_m": [
0.30676100759635583,
0.09496671673844673,
0.79
],
"vortex_yaw_deg": 16.177831400108673
},
"liquid": {
"color_rgb": [
0.3260697726974432,
0.08720131796072284,
0.17550653747229844
],
"effective_peak_level_fraction": 0.6285512516214793,
"effective_vortex_level_rise_fraction": 0.20763775761187936,
"fill_fraction": 0.4209134940095999,
"opacity": 0.8284575191006169,
"present": true,
"vortex_level_rise_fraction": 0.20763775761187936
},
"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": 26680909,
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": 0.002430324860159245,
"depart_pattern": "straight",
"depart_sway_m": -0.0025381659579742817,
"handling_noise_amplitude_m": 0.0017301058275817707,
"handling_noise_frequency_hz": 1.9042376096550928,
"handling_noise_phase_xyz_rad": [
3.5370423972542557,
0.3600652904512888,
2.715008446989523
],
"lift_height_m": 0.08195321516159652,
"orientation_noise_deg": 1.4341797411775778,
"outbound_curve_bias": -0.5332810116232641,
"outbound_pattern": "direct",
"phase_boundaries_s": {
"final_hold": [
15.44511108710922,
16.284018518677495
],
"initial_hold": [
0.0,
1.0451876738894526
],
"lift_from_rack": [
1.0451876738894526,
2.3195844485836306
],
"lower_to_rack": [
14.014178870217581,
15.44511108710922
],
"lower_to_vortex": [
5.488880746407832,
7.01996187573647
],
"raise_from_vortex": [
10.365080925024886,
11.615429486203993
],
"transfer_to_rack": [
11.615429486203993,
14.014178870217581
],
"transfer_to_vortex": [
2.3195844485836306,
5.488880746407832
],
"vortex": [
7.01996187573647,
10.365080925024886
]
},
"pick_line_azimuth_deg": -134.74440231203408,
"pick_line_tilt_deg": 9.242628894969206,
"pick_pattern": "straight",
"pick_sway_m": 0.0072748511019761,
"put_pattern": "hook",
"put_sway_m": -0.0028463184494813432,
"rack_put_height_m": 0.36123463132291944,
"return_bend_scale": 0.8105983641040986,
"return_curve_bias": 0.4048313192756636,
"return_pattern": "s_curve",
"return_side": 1.0,
"return_vertical_arc_scale": 0.7579364791592091,
"transfer_bend_m": 0.16206821248267056,
"transfer_side": 1.0,
"transport_tilt_deg": 13.96193957472008,
"vertical_arc_m": 0.3355472969789949,
"vortex_apparent_frequency_hz": 11.064848735157604,
"vortex_approach_height_m": 0.239180713572837,
"vortex_depart_height_m": 0.21390074320338265,
"vortex_frequency_hz": 41.064848735157604,
"vortex_phase_rad": 2.5139389729678703,
"vortex_radius_m": 0.0007387521911591765,
"vortex_tilt_deg": 0.6095822725243341
}
},
"render_fps": 30,
"resolution": [
1920,
1200
],
"return_slot_offset_xy": [
-0.068,
-0.034
],
"scene_id": "wrong_rack/scene_000042",
"schema_version": 15,
"seed": 26680909,
"shared_state_file": "shared_state.npz",
"shared_state_sha256": "8ffb2a02abf2188e0c1e3476210219da7bfccbca422752109044b93f168230a4",
"simultaneous_camera_count": 3,
"source_tube_has_cap": true,
"start_slot_offset_xy": [
-0.034,
-0.034
],
"subtype_event": {
"category": "wrong_rack",
"event_phase": "lower_to_rack",
"event_time_s": 15.016266851684765,
"is_failure": true,
"randomized_parameters": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
0.20611888879086915,
-0.18664401827445387,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 96.21229735120357,
"release_lateral_offset_m": 0.022189761463247117,
"release_phase_fraction": 0.7003042978821061,
"release_tilt_deg": 30.678924481876425,
"release_time_s": 15.016266851684765,
"slot_offset_xy": [
-0.02,
0.0
],
"tube_target_position": [
0.1871641173101035,
-0.19302497730205725,
0.8500000000000001
],
"yaw_deg": 18.605358795541832
},
"realized_outcome": {
"fall_distance_m": 0.0894946872001956,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 11.008864402770996,
"final_linear_speed_mps": 0.0036380235105752945,
"final_linear_velocity_mps": [
0.003170628100633621,
0.0017835870385169983,
-3.3908163459273055e-05
],
"final_position_m": [
0.1956174522638321,
-0.13783541321754456,
0.8209541440010071
],
"final_protected_visual_minimum_z_m": 0.7902500197912954,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 95.95729752065571,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.3620448708534241,
"first_impact_position_m": [
0.18445168435573578,
-0.1721908301115036,
0.8554013967514038
],
"first_impact_time_s": 15.116666666666667,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8192474842071533,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": true,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": 96.21229735120357,
"planned_release_lateral_offset_m": 0.022189761463247117,
"planned_release_tilt_deg": 30.678924481876425,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05874217140734883,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.7003042978821061,
"release_position_m": [
0.1877543424853578,
-0.19463393576201382,
0.9087421714073489
],
"release_time_s": 15.016266851684765,
"support_clearance_m": 0.0002500197912953528,
"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": [
0.18,
0.48,
0.28
],
"task": "vortexing",
"trajectory": {
"approach_pattern": "s_sway",
"approach_sway_m": 0.002430324860159245,
"depart_pattern": "straight",
"depart_sway_m": -0.0025381659579742817,
"handling_noise_amplitude_m": 0.0017301058275817707,
"handling_noise_frequency_hz": 1.9042376096550928,
"handling_noise_phase_xyz_rad": [
3.5370423972542557,
0.3600652904512888,
2.715008446989523
],
"lift_height_m": 0.08195321516159652,
"orientation_noise_deg": 1.4341797411775778,
"outbound_curve_bias": -0.5332810116232641,
"outbound_pattern": "direct",
"phase_boundaries_s": {
"final_hold": [
15.44511108710922,
16.284018518677495
],
"initial_hold": [
0.0,
1.0451876738894526
],
"lift_from_rack": [
1.0451876738894526,
2.3195844485836306
],
"lower_to_rack": [
14.014178870217581,
15.44511108710922
],
"lower_to_vortex": [
5.488880746407832,
7.01996187573647
],
"raise_from_vortex": [
10.365080925024886,
11.615429486203993
],
"transfer_to_rack": [
11.615429486203993,
14.014178870217581
],
"transfer_to_vortex": [
2.3195844485836306,
5.488880746407832
],
"vortex": [
7.01996187573647,
10.365080925024886
]
},
"pick_line_azimuth_deg": -134.74440231203408,
"pick_line_tilt_deg": 9.242628894969206,
"pick_pattern": "straight",
"pick_sway_m": 0.0072748511019761,
"put_pattern": "hook",
"put_sway_m": -0.0028463184494813432,
"rack_put_height_m": 0.36123463132291944,
"return_bend_scale": 0.8105983641040986,
"return_curve_bias": 0.4048313192756636,
"return_pattern": "s_curve",
"return_side": 1.0,
"return_vertical_arc_scale": 0.7579364791592091,
"transfer_bend_m": 0.16206821248267056,
"transfer_side": 1.0,
"transport_tilt_deg": 13.96193957472008,
"vertical_arc_m": 0.3355472969789949,
"vortex_apparent_frequency_hz": 11.064848735157604,
"vortex_approach_height_m": 0.239180713572837,
"vortex_depart_height_m": 0.21390074320338265,
"vortex_frequency_hz": 41.064848735157604,
"vortex_phase_rad": 2.5139389729678703,
"vortex_radius_m": 0.0007387521911591765,
"vortex_tilt_deg": 0.6095822725243341
},
"trajectory_validation": {
"duration_s": 16.284018518677495,
"final_position_error_m": 0.0,
"finite": true,
"max_boundary_angular_jump_deg": 0.0,
"max_boundary_position_jump_m": 3.3306690738754696e-16,
"max_quaternion_norm_error": 1.1102230246251565e-16,
"max_sample_step_m": 0.0029168042777375494,
"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": 0.4038840203700953,
"release_time_s": 12.58424603127969,
"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": [
-0.5262415647418582,
0.08063565740164744,
0.8152000000000001
],
"tube_start_position": [
-0.5038415436185819,
0.10621375454894855,
0.8152000000000001
],
"video": "front.mp4",
"video_sha256": "cad37a91a3dc25f04b434bcffdaccee179c1f621bd624df59dc5cb2b7983fe5a",
"video_validation": {
"actual_frame_count": 489,
"content_valid": true,
"decode_error": null,
"expected_frame_count": 489,
"frame_count_valid": true,
"full_decode_frame_count": 489,
"max_changed_pixel_fraction": 0.014450954861111111,
"mean_luminance": 108.52835845947266,
"motion_valid": true,
"resolution_valid": true,
"sampled_frame_indices": [
0,
81,
163,
244,
325,
407,
488
],
"spatial_standard_deviation": 35.49686050415039,
"valid": true
},
"view_index": 1,
"view_order": [
"left",
"front",
"right"
],
"vortex_contact_position": [
0.3019483289933694,
0.13344967562500268,
0.9580000000000001
],
"vortex_id": "VTX-005",
"vortex_position": [
0.30676100759635583,
0.09496671673844673,
0.79
],
"vortex_yaw_deg": 16.177831400108673,
"wrong_orientation": {
"azimuth_deg": -89.81123692009238,
"mode": "tilted",
"tilt_deg_from_z": 58.432448764744265
},
"wrong_rack": {
"hole_relation": "too_small",
"insertion_depth_m": 0.0,
"insertion_succeeds": false,
"placement_outcome": "physx_drop_pending",
"position": [
0.20611888879086915,
-0.18664401827445387,
0.79
],
"rack_id": "TR-003",
"release_azimuth_deg": 96.21229735120357,
"release_lateral_offset_m": 0.022189761463247117,
"release_phase_fraction": 0.7003042978821061,
"release_tilt_deg": 30.678924481876425,
"release_time_s": 15.016266851684765,
"slot_offset_xy": [
-0.02,
0.0
],
"tube_target_position": [
0.1871641173101035,
-0.19302497730205725,
0.8500000000000001
],
"yaw_deg": 18.605358795541832
},
"wrong_rack_physics": {
"fall_distance_m": 0.0894946872001956,
"falling_under_gravity_at_episode_end": false,
"final_angular_speed_deg_s": 11.008864402770996,
"final_linear_speed_mps": 0.0036380235105752945,
"final_linear_velocity_mps": [
0.003170628100633621,
0.0017835870385169983,
-3.3908163459273055e-05
],
"final_position_m": [
0.1956174522638321,
-0.13783541321754456,
0.8209541440010071
],
"final_protected_visual_minimum_z_m": 0.7902500197912954,
"final_state_valid": true,
"final_surface": "table",
"final_tilt_from_upright_deg": 95.95729752065571,
"first_impact_body": "wrong_rack",
"first_impact_linear_speed_mps": 0.3620448708534241,
"first_impact_position_m": [
0.18445168435573578,
-0.1721908301115036,
0.8554013967514038
],
"first_impact_time_s": 15.116666666666667,
"hole_relation": "too_small",
"inside_wrong_rack_footprint": false,
"minimum_root_z_m": 0.8192474842071533,
"observed_outcome": "fell_to_table",
"overlaps_wrong_rack_footprint": true,
"planned_outcome": "physx_drop_pending",
"planned_release_azimuth_deg": 96.21229735120357,
"planned_release_lateral_offset_m": 0.022189761463247117,
"planned_release_tilt_deg": 30.678924481876425,
"post_release_scripted_control": false,
"release_angular_velocity_rad_s": [
0.0,
0.0,
0.0
],
"release_height_above_rack_top_m": 0.05874217140734883,
"release_linear_velocity_mps": [
0.0,
0.0,
0.0
],
"release_mode": "physx_gravity_from_rest",
"release_phase": "lower_to_rack",
"release_phase_fraction": 0.7003042978821061,
"release_position_m": [
0.1877543424853578,
-0.19463393576201382,
0.9087421714073489
],
"release_time_s": 15.016266851684765,
"support_clearance_m": 0.0002500197912953528,
"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"
}
}