{ "background": { "accent_color_rgb": [ 0.8778431493184008, 0.711589291393531, 0.17379898701423396 ], "cabinet_color_rgb": [ 0.6197848322613091, 0.7178709322072254, 0.7076514161114409 ], "floor_color_rgb": [ 0.28157656181909685, 0.2862748405930458, 0.3489399391544374 ], "screen_color_rgb": [ 0.31258364126448246, 0.7192190831429252, 0.8257462587871667 ], "style": "biosafety", "wall_color_rgb": [ 0.7344639683823111, 0.8026390572265805, 0.776165653170751 ] }, "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": [ 0.2860668524317912, 0.09235716204034361, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.069105129708932, "yaw_deg": 60.587796024737514 }, { "asset_id": "AUX-TR-004", "pitch_deg": 0.0, "position": [ 0.6380923595931327, -0.07205472535274371, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8926341065967037, "yaw_deg": 118.63648693528131 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.003970138279925872, 1.1137253980124548, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.7812711098855575, "yaw_deg": -167.13720509977048 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ -0.7015904292490343, -0.3011671019592844, 0.8039684469477167 ], "roll_deg": -88.35267528762084, "surface": "main_table", "uniform_scale": 0.7969495235335361, "yaw_deg": -80.2640947068132 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ 0.40861781055391977, 1.059186827731285, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0102240368004252, "yaw_deg": 70.7611318770339 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.3600041276834959, 1.275249775261848, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.14273023536528, "yaw_deg": -48.90915625129318 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ 0.6381221395019976, 0.3564243869596664, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0346040503412195, "yaw_deg": 121.90576949307587 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.33262986714537984, 1.134390922699891, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0941278985640428, "yaw_deg": 112.60095435713868 } ], "duration_s": 16.14111450818902, "episode_id": 29, "error_type": "wrong_rack", "frame_count": 484, "generation_success": true, "light_color_rgb": [ 0.92, 0.92, 0.9384393577917078 ], "light_intensity": 2596.9217497174222, "liquid": { "color_rgb": [ 0.36499329951067544, 0.21092664278191606, 0.024203144956939756 ], "fill_fraction": 0.4847114695233141, "opacity": 0.8829444360776283, "vortex_level_rise_fraction": 0.19695468379969758 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.561911605543658, "direction_azimuth_deg": 144.93921800932662, "lateral_speed_mps": 0.026284844253453055, "phase": "lower_to_rack", "phase_fraction": 0.7583216505710144, "release_clearance_m": 0.010951809173352995, "release_tilt_deg": 137.39301218217742, "stage": "insertion", "tip_duration_s": 0.42713231711219357, "trigger_time_s": 14.872890511109386, "tube_detach_fraction": 0.5116943549306251, "tube_engagement_fraction": 0.550374401844848, "tube_on_rack": true, "upward_speed_mps": 0.08688993571787396 }, "rack_id": "TR-004", "rack_position": [ 0.040053905464289, -0.2421087977717724, 0.79 ], "rack_yaw_deg": -0.7886159856021351, "randomization_results": { "assets": { "rack_id": "TR-004", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-005", "vortex_id": "VTX-002" }, "distractors": { "count": 8, "placements": [ { "asset_id": "SBI-006", "pitch_deg": 0.0, "position": [ 0.2860668524317912, 0.09235716204034361, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.069105129708932, "yaw_deg": 60.587796024737514 }, { "asset_id": "AUX-TR-004", "pitch_deg": 0.0, "position": [ 0.6380923595931327, -0.07205472535274371, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8926341065967037, "yaw_deg": 118.63648693528131 }, { "asset_id": "AUX-TR-003", "pitch_deg": 0.0, "position": [ -0.003970138279925872, 1.1137253980124548, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.7812711098855575, "yaw_deg": -167.13720509977048 }, { "asset_id": "PIP-017", "pitch_deg": 0.0, "position": [ -0.7015904292490343, -0.3011671019592844, 0.8039684469477167 ], "roll_deg": -88.35267528762084, "surface": "main_table", "uniform_scale": 0.7969495235335361, "yaw_deg": -80.2640947068132 }, { "asset_id": "TIP-007", "pitch_deg": 0.0, "position": [ 0.40861781055391977, 1.059186827731285, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0102240368004252, "yaw_deg": 70.7611318770339 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.3600041276834959, 1.275249775261848, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.14273023536528, "yaw_deg": -48.90915625129318 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ 0.6381221395019976, 0.3564243869596664, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0346040503412195, "yaw_deg": 121.90576949307587 }, { "asset_id": "TIP-004", "pitch_deg": 0.0, "position": [ -0.33262986714537984, 1.134390922699891, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0941278985640428, "yaw_deg": 112.60095435713868 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8778431493184008, 0.711589291393531, 0.17379898701423396 ], "cabinet_color_rgb": [ 0.6197848322613091, 0.7178709322072254, 0.7076514161114409 ], "floor_color_rgb": [ 0.28157656181909685, 0.2862748405930458, 0.3489399391544374 ], "screen_color_rgb": [ 0.31258364126448246, 0.7192190831429252, 0.8257462587871667 ], "style": "biosafety", "wall_color_rgb": [ 0.7344639683823111, 0.8026390572265805, 0.776165653170751 ] }, "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, 0.9384393577917078 ], "light_intensity": 2596.9217497174222, "table_color_rgb": [ 0.26, 0.32, 0.42 ] }, "layout": { "rack_position_m": [ 0.040053905464289, -0.2421087977717724, 0.79 ], "rack_to_vortex_bearing_deg": 139.7388311789774, "rack_to_vortex_distance_m": 0.6168137582543342, "rack_yaw_deg": -0.7886159856021351, "return_slot_offset_xy_m": [ -0.075, 0.0 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ -0.025, 0.0 ], "tube_return_position_m": [ -0.034938990415544297, -0.24107653445435615, 0.8394 ], "tube_start_position_m": [ 0.015056273504344565, -0.24176470999930033, 0.8394 ], "vortex_contact_position_m": [ -0.4209764074885557, 0.18329240928156162, 0.9790000000000001 ], "vortex_position_m": [ -0.43064068558034024, 0.15652112375089178, 0.79 ], "vortex_yaw_deg": -38.92082941630621 }, "liquid": { "color_rgb": [ 0.36499329951067544, 0.21092664278191606, 0.024203144956939756 ], "effective_peak_level_fraction": 0.6816661533230117, "effective_vortex_level_rise_fraction": 0.19695468379969758, "fill_fraction": 0.4847114695233141, "opacity": 0.8829444360776283, "present": true, "vortex_level_rise_fraction": 0.19695468379969758 }, "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": 26550909, "trajectory": { "approach_pattern": "hook", "approach_sway_m": 0.010515290676229258, "depart_pattern": "straight", "depart_sway_m": -0.007350242877798377, "handling_noise_amplitude_m": 0.001174392128770337, "handling_noise_frequency_hz": 1.5319216100230282, "handling_noise_phase_xyz_rad": [ 6.278029109466443, 0.46959411262939477, 6.041676488121752 ], "lift_height_m": 0.131292776059747, "orientation_noise_deg": 1.5697496848665689, "outbound_curve_bias": -0.3614568293717093, "outbound_pattern": "double_s", "phase_boundaries_s": { "final_hold": [ 15.07055464207339, 16.14111450818902 ], "initial_hold": [ 0.0, 0.8793715162268545 ], "lift_from_rack": [ 0.8793715162268545, 2.5127527847003464 ], "lower_to_rack": [ 14.252673638536972, 15.07055464207339 ], "lower_to_vortex": [ 5.724539715678537, 6.843855789331906 ], "raise_from_vortex": [ 10.004454384320026, 10.857287584967318 ], "transfer_to_rack": [ 10.857287584967318, 14.252673638536972 ], "transfer_to_vortex": [ 2.5127527847003464, 5.724539715678537 ], "vortex": [ 6.843855789331906, 10.004454384320026 ] }, "pick_line_azimuth_deg": 63.393007972601424, "pick_line_tilt_deg": 7.488008231932811, "pick_pattern": "straight", "pick_sway_m": -0.002148097681873841, "put_pattern": "hook", "put_sway_m": -0.009208033388752385, "rack_put_height_m": 0.3196917989469915, "return_bend_scale": 0.8541432557426705, "return_curve_bias": 0.02503635152624717, "return_pattern": "wide_detour", "return_side": 1.0, "return_vertical_arc_scale": 0.5647212843453239, "transfer_bend_m": 0.07616010960997224, "transfer_side": -1.0, "transport_tilt_deg": 16.135570495930423, "vertical_arc_m": 0.22343095065981033, "vortex_apparent_frequency_hz": 10.243924995606612, "vortex_approach_height_m": 0.2135808409458922, "vortex_depart_height_m": 0.24942485939526948, "vortex_frequency_hz": 40.24392499560661, "vortex_phase_rad": 2.653909270003322, "vortex_radius_m": 0.0005669432506654611, "vortex_tilt_deg": 0.6284036226456491 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.075, 0.0 ], "scene_id": "wrong_rack/scene_000029", "schema_version": 15, "seed": 26550909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "e31cdb01b746985b178ace9a92302aca0f866b43548f193ddf443cc51fb210e7", "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": 14.85442862257733, "is_failure": true, "randomized_parameters": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ 0.5558715860222038, -0.28480183150392785, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -152.12528172459517, "release_lateral_offset_m": 0.022824202342981784, "release_phase_fraction": 0.7357488209634939, "release_tilt_deg": 32.20521534340315, "release_time_s": 14.85442862257733, "slot_offset_xy": [ -0.04, -0.019 ], "tube_target_position": [ 0.5146311563879308, -0.268670279700689, 0.8500000000000001 ], "yaw_deg": -46.77110186913949 }, "realized_outcome": { "fall_distance_m": 0.07970379626893331, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 27.93522834777832, "final_linear_speed_mps": 0.008895514532923698, "final_linear_velocity_mps": [ 0.00394878163933754, -0.007971025072038174, -8.38129926705733e-06 ], "final_position_m": [ 0.47233909368515015, -0.2861340045928955, 0.8083624839782715 ], "final_protected_visual_minimum_z_m": 0.7902499839782728, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99997789498124, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.7971729040145874, "first_impact_position_m": [ 0.49631866812705994, -0.2756829559803009, 0.8512773513793945 ], "first_impact_time_s": 14.933333333333334, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8083623647689819, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": true, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": -152.12528172459517, "planned_release_lateral_offset_m": 0.022824202342981784, "planned_release_tilt_deg": 32.20521534340315, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.03806616103791516, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7357488209634939, "release_position_m": [ 0.5164946225169883, -0.26501172532027434, 0.8880661610379152 ], "release_time_s": 14.85442862257733, "support_clearance_m": 0.0002499839782728053, "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": "hook", "approach_sway_m": 0.010515290676229258, "depart_pattern": "straight", "depart_sway_m": -0.007350242877798377, "handling_noise_amplitude_m": 0.001174392128770337, "handling_noise_frequency_hz": 1.5319216100230282, "handling_noise_phase_xyz_rad": [ 6.278029109466443, 0.46959411262939477, 6.041676488121752 ], "lift_height_m": 0.131292776059747, "orientation_noise_deg": 1.5697496848665689, "outbound_curve_bias": -0.3614568293717093, "outbound_pattern": "double_s", "phase_boundaries_s": { "final_hold": [ 15.07055464207339, 16.14111450818902 ], "initial_hold": [ 0.0, 0.8793715162268545 ], "lift_from_rack": [ 0.8793715162268545, 2.5127527847003464 ], "lower_to_rack": [ 14.252673638536972, 15.07055464207339 ], "lower_to_vortex": [ 5.724539715678537, 6.843855789331906 ], "raise_from_vortex": [ 10.004454384320026, 10.857287584967318 ], "transfer_to_rack": [ 10.857287584967318, 14.252673638536972 ], "transfer_to_vortex": [ 2.5127527847003464, 5.724539715678537 ], "vortex": [ 6.843855789331906, 10.004454384320026 ] }, "pick_line_azimuth_deg": 63.393007972601424, "pick_line_tilt_deg": 7.488008231932811, "pick_pattern": "straight", "pick_sway_m": -0.002148097681873841, "put_pattern": "hook", "put_sway_m": -0.009208033388752385, "rack_put_height_m": 0.3196917989469915, "return_bend_scale": 0.8541432557426705, "return_curve_bias": 0.02503635152624717, "return_pattern": "wide_detour", "return_side": 1.0, "return_vertical_arc_scale": 0.5647212843453239, "transfer_bend_m": 0.07616010960997224, "transfer_side": -1.0, "transport_tilt_deg": 16.135570495930423, "vertical_arc_m": 0.22343095065981033, "vortex_apparent_frequency_hz": 10.243924995606612, "vortex_approach_height_m": 0.2135808409458922, "vortex_depart_height_m": 0.24942485939526948, "vortex_frequency_hz": 40.24392499560661, "vortex_phase_rad": 2.653909270003322, "vortex_radius_m": 0.0005669432506654611, "vortex_tilt_deg": 0.6284036226456491 }, "trajectory_validation": { "duration_s": 16.14111450818902, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 4.440892098500626e-16, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.003058757499916961, "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": 0.7447482686931399, "release_time_s": 4.904725540957607, "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": [ -0.034938990415544297, -0.24107653445435615, 0.8394 ], "tube_start_position": [ 0.015056273504344565, -0.24176470999930033, 0.8394 ], "video": "front.mp4", "video_sha256": "2bb251ca913a086d83907a25b76f5071444fff9fd298251a0f1f0b14cdcf3689", "video_validation": { "actual_frame_count": 484, "content_valid": true, "decode_error": null, "expected_frame_count": 484, "frame_count_valid": true, "full_decode_frame_count": 484, "max_changed_pixel_fraction": 0.012269965277777777, "mean_luminance": 148.83401489257812, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 80, 161, 242, 322, 402, 483 ], "spatial_standard_deviation": 36.685367584228516, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.4209764074885557, 0.18329240928156162, 0.9790000000000001 ], "vortex_id": "VTX-002", "vortex_position": [ -0.43064068558034024, 0.15652112375089178, 0.79 ], "vortex_yaw_deg": -38.92082941630621, "wrong_orientation": { "azimuth_deg": 144.42194721135917, "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": [ 0.5558715860222038, -0.28480183150392785, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -152.12528172459517, "release_lateral_offset_m": 0.022824202342981784, "release_phase_fraction": 0.7357488209634939, "release_tilt_deg": 32.20521534340315, "release_time_s": 14.85442862257733, "slot_offset_xy": [ -0.04, -0.019 ], "tube_target_position": [ 0.5146311563879308, -0.268670279700689, 0.8500000000000001 ], "yaw_deg": -46.77110186913949 }, "wrong_rack_physics": { "fall_distance_m": 0.07970379626893331, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 27.93522834777832, "final_linear_speed_mps": 0.008895514532923698, "final_linear_velocity_mps": [ 0.00394878163933754, -0.007971025072038174, -8.38129926705733e-06 ], "final_position_m": [ 0.47233909368515015, -0.2861340045928955, 0.8083624839782715 ], "final_protected_visual_minimum_z_m": 0.7902499839782728, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99997789498124, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.7971729040145874, "first_impact_position_m": [ 0.49631866812705994, -0.2756829559803009, 0.8512773513793945 ], "first_impact_time_s": 14.933333333333334, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8083623647689819, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": true, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": -152.12528172459517, "planned_release_lateral_offset_m": 0.022824202342981784, "planned_release_tilt_deg": 32.20521534340315, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.03806616103791516, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7357488209634939, "release_position_m": [ 0.5164946225169883, -0.26501172532027434, 0.8880661610379152 ], "release_time_s": 14.85442862257733, "support_clearance_m": 0.0002499839782728053, "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" } }