{ "background": { "accent_color_rgb": [ 0.6196334375864648, 0.31275625559080367, 0.6972822783886264 ], "cabinet_color_rgb": [ 0.20481516021213184, 0.29904811653719515, 0.32191246590477673 ], "floor_color_rgb": [ 0.15029618705402686, 0.19206434463514613, 0.273719690624161 ], "screen_color_rgb": [ 0.24067016183826664, 0.7074244400319893, 0.92056169543487 ], "style": "instrument_bay", "wall_color_rgb": [ 0.35712381062766396, 0.4323887231132727, 0.4568652954853056 ] }, "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": "SBI-006", "pitch_deg": 0.0, "position": [ -0.5495763566562161, 0.2032113223106059, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0970772793652406, "yaw_deg": 160.71673141037525 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ 0.5245022445852545, 1.0854292005750352, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8962124297767485, "yaw_deg": 29.5614277745579 }, { "asset_id": "PIP-018", "pitch_deg": 0.0, "position": [ -0.0825835119509063, 0.015571255713782595, 0.8153240115250152 ], "roll_deg": -86.59033229595568, "surface": "main_table", "uniform_scale": 0.9696879501959037, "yaw_deg": -169.71130096622204 }, { "asset_id": "PIP-007", "pitch_deg": -91.37373087347173, "position": [ 0.17083468733585683, 0.26214663313786385, 0.8143560772186305 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0993583971719083, "yaw_deg": -8.726189053105657 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ -0.5302871137132534, -0.30220875566463323, 0.8096986227540423 ], "roll_deg": 91.87597456803391, "surface": "main_table", "uniform_scale": 1.136013180712557, "yaw_deg": 160.32858163699882 }, { "asset_id": "PIP-001", "pitch_deg": 0.0, "position": [ 0.6704186303135921, 0.3875689242472233, 0.7998831305423141 ], "roll_deg": -86.01811312560228, "surface": "main_table", "uniform_scale": 1.0311132464081347, "yaw_deg": 84.13041959220243 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.2959677231360162, 1.184740405092041, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0869734107828557, "yaw_deg": 10.363921507853007 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.6825284536121602, -0.1329346753669839, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0933746197189746, "yaw_deg": 12.42009685439578 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.4776492397634402, 0.13473101766793005, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9491465129957515, "yaw_deg": -57.97206620370089 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.07270040327089322, -0.17160102704623478, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1006439583838101, "yaw_deg": 111.89556666395538 } ], "duration_s": 15.81876282169245, "episode_id": 5, "error_type": "wrong_rack", "frame_count": 475, "generation_success": true, "light_color_rgb": [ 0.9492705957802295, 0.92, 0.92 ], "light_intensity": 2490.4163807373925, "liquid": { "color_rgb": [ 0.05202947443606867, 0.30540194413082694, 0.22379968806802145 ], "fill_fraction": 0.5148768378985763, "opacity": 0.8245024848781901, "vortex_level_rise_fraction": 0.2079898793964899 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 1.7579410925015013, "direction_azimuth_deg": -30.091196399090194, "lateral_speed_mps": 0.04476470997644327, "phase": "lift_from_rack", "phase_fraction": 0.3067301552310706, "release_clearance_m": 0.009030491939077678, "release_tilt_deg": 140.1992700256365, "stage": "pickup", "tip_duration_s": 0.33087256914499047, "trigger_time_s": 1.143559257848834, "tube_detach_fraction": 0.44799293939010065, "tube_engagement_fraction": 0.5948953938200288, "tube_on_rack": true, "upward_speed_mps": 0.08480938039824504 }, "rack_id": "TR-004", "rack_position": [ -0.19634315806322522, -0.23421910569089271, 0.79 ], "rack_yaw_deg": -30.236391696439117, "randomization_results": { "assets": { "rack_id": "TR-004", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-005", "vortex_id": "VTX-001" }, "distractors": { "count": 10, "placements": [ { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ -0.5495763566562161, 0.2032113223106059, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0970772793652406, "yaw_deg": 160.71673141037525 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ 0.5245022445852545, 1.0854292005750352, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8962124297767485, "yaw_deg": 29.5614277745579 }, { "asset_id": "PIP-018", "pitch_deg": 0.0, "position": [ -0.0825835119509063, 0.015571255713782595, 0.8153240115250152 ], "roll_deg": -86.59033229595568, "surface": "main_table", "uniform_scale": 0.9696879501959037, "yaw_deg": -169.71130096622204 }, { "asset_id": "PIP-007", "pitch_deg": -91.37373087347173, "position": [ 0.17083468733585683, 0.26214663313786385, 0.8143560772186305 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0993583971719083, "yaw_deg": -8.726189053105657 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ -0.5302871137132534, -0.30220875566463323, 0.8096986227540423 ], "roll_deg": 91.87597456803391, "surface": "main_table", "uniform_scale": 1.136013180712557, "yaw_deg": 160.32858163699882 }, { "asset_id": "PIP-001", "pitch_deg": 0.0, "position": [ 0.6704186303135921, 0.3875689242472233, 0.7998831305423141 ], "roll_deg": -86.01811312560228, "surface": "main_table", "uniform_scale": 1.0311132464081347, "yaw_deg": 84.13041959220243 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.2959677231360162, 1.184740405092041, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0869734107828557, "yaw_deg": 10.363921507853007 }, { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.6825284536121602, -0.1329346753669839, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0933746197189746, "yaw_deg": 12.42009685439578 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.4776492397634402, 0.13473101766793005, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9491465129957515, "yaw_deg": -57.97206620370089 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.07270040327089322, -0.17160102704623478, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1006439583838101, "yaw_deg": 111.89556666395538 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.6196334375864648, 0.31275625559080367, 0.6972822783886264 ], "cabinet_color_rgb": [ 0.20481516021213184, 0.29904811653719515, 0.32191246590477673 ], "floor_color_rgb": [ 0.15029618705402686, 0.19206434463514613, 0.273719690624161 ], "screen_color_rgb": [ 0.24067016183826664, 0.7074244400319893, 0.92056169543487 ], "style": "instrument_bay", "wall_color_rgb": [ 0.35712381062766396, 0.4323887231132727, 0.4568652954853056 ] }, "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": [ 0.9492705957802295, 0.92, 0.92 ], "light_intensity": 2490.4163807373925, "table_color_rgb": [ 0.26, 0.32, 0.42 ] }, "layout": { "rack_position_m": [ -0.19634315806322522, -0.23421910569089271, 0.79 ], "rack_to_vortex_bearing_deg": 4.578415479788265, "rack_to_vortex_distance_m": 0.5653465657280294, "rack_yaw_deg": -30.236391696439117, "return_slot_offset_xy_m": [ -0.025, 0.0 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ 0.025, 0.0 ], "tube_return_position_m": [ -0.2179420363643742, -0.22162988585278698, 0.8394 ], "tube_start_position_m": [ -0.17474427976207624, -0.24680832552899845, 0.8394 ], "vortex_contact_position_m": [ 0.33262866306942757, -0.14452862611866582, 1.0070000000000001 ], "vortex_position_m": [ 0.3671993982723424, -0.1890912143236831, 0.79 ], "vortex_yaw_deg": 37.803570890591615 }, "liquid": { "color_rgb": [ 0.05202947443606867, 0.30540194413082694, 0.22379968806802145 ], "effective_peak_level_fraction": 0.7228667172950662, "effective_vortex_level_rise_fraction": 0.2079898793964899, "fill_fraction": 0.5148768378985763, "opacity": 0.8245024848781901, "present": true, "vortex_level_rise_fraction": 0.2079898793964899 }, "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": 26310909, "trajectory": { "approach_pattern": "lean", "approach_sway_m": -0.003524274437337716, "depart_pattern": "straight", "depart_sway_m": 0.00893467394628382, "handling_noise_amplitude_m": 0.0084233060575673, "handling_noise_frequency_hz": 0.6075928310192087, "handling_noise_phase_xyz_rad": [ 1.9971391712534556, 3.736046259117858, 5.940057482301764 ], "lift_height_m": 0.15889009023655423, "orientation_noise_deg": 6.115472948338027, "outbound_curve_bias": -0.3315996976086773, "outbound_pattern": "wide_detour", "phase_boundaries_s": { "final_hold": [ 15.062078363541051, 15.81876282169245 ], "initial_hold": [ 0.0, 0.7291659435725588 ], "lift_from_rack": [ 0.7291659435725588, 2.080168794805422 ], "lower_to_rack": [ 14.361202010387593, 15.062078363541051 ], "lower_to_vortex": [ 4.572818082128059, 5.340489619602792 ], "raise_from_vortex": [ 9.976812851187482, 11.321234887328451 ], "transfer_to_rack": [ 11.321234887328451, 14.361202010387593 ], "transfer_to_vortex": [ 2.080168794805422, 4.572818082128059 ], "vortex": [ 5.340489619602792, 9.976812851187482 ] }, "pick_line_azimuth_deg": -165.89216626517478, "pick_line_tilt_deg": 8.98415841143279, "pick_pattern": "straight", "pick_sway_m": 0.007098665665428387, "put_pattern": "hook", "put_sway_m": -0.0090230705944866, "rack_put_height_m": 0.38919604982591127, "return_bend_scale": 1.447864608368052, "return_curve_bias": 0.05684531666617265, "return_pattern": "loop", "return_side": 1.0, "return_vertical_arc_scale": 1.5685116186456476, "transfer_bend_m": 0.12927723275061376, "transfer_side": 1.0, "transport_tilt_deg": 12.15259306345601, "vertical_arc_m": 0.1358247244768999, "vortex_apparent_frequency_hz": 10.998439902603078, "vortex_approach_height_m": 0.18425402682588532, "vortex_depart_height_m": 0.14526390597628713, "vortex_frequency_hz": 19.001560097396922, "vortex_phase_rad": 4.291518999453388, "vortex_radius_m": 0.0006745234923605688, "vortex_tilt_deg": 0.8345468053271499 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.025, 0.0 ], "scene_id": "wrong_rack/scene_000005", "schema_version": 15, "seed": 26310909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "b58d892f096cfa2e5de951d4fd95a6a35f142bccfb777ca4e3fa6574b3cf0354", "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": 14.840566791730224, "is_failure": true, "randomized_parameters": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.049143259597305367, 0.2817471884611916, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 80.31255851573792, "release_lateral_offset_m": 0.021577452247383288, "release_phase_fraction": 0.6839505701481021, "release_tilt_deg": 33.4781812927138, "release_time_s": 14.840566791730224, "slot_offset_xy": [ 0.0, 0.019 ], "tube_target_position": [ -0.06615239651238616, 0.29021413958919723, 0.8500000000000001 ], "yaw_deg": 63.53641054134687 }, "realized_outcome": { "fall_distance_m": 0.11339840178686078, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 455.7528076171875, "final_linear_speed_mps": 0.1450643092393875, "final_linear_velocity_mps": [ 0.14347442984580994, 0.02141827531158924, 1.3988937098474707e-05 ], "final_position_m": [ 0.0759398341178894, 0.342795193195343, 0.8083649277687073 ], "final_protected_visual_minimum_z_m": 0.7902524277687197, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99993289233218, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.8018327951431274, "first_impact_position_m": [ -0.053602296859025955, 0.32244282960891724, 0.8687055110931396 ], "first_impact_time_s": 15.091666666666667, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8083649277687073, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 80.31255851573792, "planned_release_lateral_offset_m": 0.021577452247383288, "planned_release_tilt_deg": 33.4781812927138, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.07176332955556797, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.6839505701481021, "release_position_m": [ -0.06306414055097405, 0.28549517425606025, 0.9217633295555681 ], "release_time_s": 14.840566791730224, "support_clearance_m": 0.0002524277687196985, "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": "lean", "approach_sway_m": -0.003524274437337716, "depart_pattern": "straight", "depart_sway_m": 0.00893467394628382, "handling_noise_amplitude_m": 0.0084233060575673, "handling_noise_frequency_hz": 0.6075928310192087, "handling_noise_phase_xyz_rad": [ 1.9971391712534556, 3.736046259117858, 5.940057482301764 ], "lift_height_m": 0.15889009023655423, "orientation_noise_deg": 6.115472948338027, "outbound_curve_bias": -0.3315996976086773, "outbound_pattern": "wide_detour", "phase_boundaries_s": { "final_hold": [ 15.062078363541051, 15.81876282169245 ], "initial_hold": [ 0.0, 0.7291659435725588 ], "lift_from_rack": [ 0.7291659435725588, 2.080168794805422 ], "lower_to_rack": [ 14.361202010387593, 15.062078363541051 ], "lower_to_vortex": [ 4.572818082128059, 5.340489619602792 ], "raise_from_vortex": [ 9.976812851187482, 11.321234887328451 ], "transfer_to_rack": [ 11.321234887328451, 14.361202010387593 ], "transfer_to_vortex": [ 2.080168794805422, 4.572818082128059 ], "vortex": [ 5.340489619602792, 9.976812851187482 ] }, "pick_line_azimuth_deg": -165.89216626517478, "pick_line_tilt_deg": 8.98415841143279, "pick_pattern": "straight", "pick_sway_m": 0.007098665665428387, "put_pattern": "hook", "put_sway_m": -0.0090230705944866, "rack_put_height_m": 0.38919604982591127, "return_bend_scale": 1.447864608368052, "return_curve_bias": 0.05684531666617265, "return_pattern": "loop", "return_side": 1.0, "return_vertical_arc_scale": 1.5685116186456476, "transfer_bend_m": 0.12927723275061376, "transfer_side": 1.0, "transport_tilt_deg": 12.15259306345601, "vertical_arc_m": 0.1358247244768999, "vortex_apparent_frequency_hz": 10.998439902603078, "vortex_approach_height_m": 0.18425402682588532, "vortex_depart_height_m": 0.14526390597628713, "vortex_frequency_hz": 19.001560097396922, "vortex_phase_rad": 4.291518999453388, "vortex_radius_m": 0.0006745234923605688, "vortex_tilt_deg": 0.8345468053271499 }, "trajectory_validation": { "duration_s": 15.81876282169245, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 1.6792123247455493e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.0043477396973932245, "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": 0.5799999999999998, "release_time_s": 3.525905381452551, "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": [ -0.2179420363643742, -0.22162988585278698, 0.8394 ], "tube_start_position": [ -0.17474427976207624, -0.24680832552899845, 0.8394 ], "video": "front.mp4", "video_sha256": "dd69a19c7d7a9c72e1d4b6de01151eb3767f40673a746681ef4929d49554a138", "video_validation": { "actual_frame_count": 475, "content_valid": true, "decode_error": null, "expected_frame_count": 475, "frame_count_valid": true, "full_decode_frame_count": 475, "max_changed_pixel_fraction": 0.013286024305555555, "mean_luminance": 110.88578033447266, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 79, 158, 237, 316, 395, 474 ], "spatial_standard_deviation": 35.70525360107422, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ 0.33262866306942757, -0.14452862611866582, 1.0070000000000001 ], "vortex_id": "VTX-001", "vortex_position": [ 0.3671993982723424, -0.1890912143236831, 0.79 ], "vortex_yaw_deg": 37.803570890591615, "wrong_orientation": { "azimuth_deg": -14.253302069150209, "mode": "tilted", "tilt_deg_from_z": 34.723990630600284 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.049143259597305367, 0.2817471884611916, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 80.31255851573792, "release_lateral_offset_m": 0.021577452247383288, "release_phase_fraction": 0.6839505701481021, "release_tilt_deg": 33.4781812927138, "release_time_s": 14.840566791730224, "slot_offset_xy": [ 0.0, 0.019 ], "tube_target_position": [ -0.06615239651238616, 0.29021413958919723, 0.8500000000000001 ], "yaw_deg": 63.53641054134687 }, "wrong_rack_physics": { "fall_distance_m": 0.11339840178686078, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 455.7528076171875, "final_linear_speed_mps": 0.1450643092393875, "final_linear_velocity_mps": [ 0.14347442984580994, 0.02141827531158924, 1.3988937098474707e-05 ], "final_position_m": [ 0.0759398341178894, 0.342795193195343, 0.8083649277687073 ], "final_protected_visual_minimum_z_m": 0.7902524277687197, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99993289233218, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.8018327951431274, "first_impact_position_m": [ -0.053602296859025955, 0.32244282960891724, 0.8687055110931396 ], "first_impact_time_s": 15.091666666666667, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8083649277687073, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 80.31255851573792, "planned_release_lateral_offset_m": 0.021577452247383288, "planned_release_tilt_deg": 33.4781812927138, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.07176332955556797, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.6839505701481021, "release_position_m": [ -0.06306414055097405, 0.28549517425606025, 0.9217633295555681 ], "release_time_s": 14.840566791730224, "support_clearance_m": 0.0002524277687196985, "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" } }