{ "background": { "accent_color_rgb": [ 0.2624640599339363, 0.5436869719116327, 0.6678259292438371 ], "cabinet_color_rgb": [ 0.6840983633155189, 0.743055176557989, 0.7539232352000582 ], "floor_color_rgb": [ 0.31755528066618277, 0.3632830499322264, 0.4269249679377135 ], "screen_color_rgb": [ 0.49934387796155355, 0.7816875323404006, 0.9078598183840041 ], "style": "clean_room", "wall_color_rgb": [ 0.816944922460175, 0.8209155691667365, 0.9029551015516736 ] }, "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-002", "pitch_deg": 0.0, "position": [ -0.12307510244906172, 1.1416718418157743, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0467613891666974, "yaw_deg": 92.01211976174125 }, { "asset_id": "RES-010", "pitch_deg": 0.0, "position": [ 0.6624729007601745, -0.19613472163505302, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.010719276336465, "yaw_deg": -146.93497442125525 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ -0.42127178209065436, 1.2640967589836969, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8982011825612758, "yaw_deg": 154.5833961800136 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.6211622894179424, 0.1429263856661796, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0247105950390902, "yaw_deg": 174.74246044349343 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ 0.9243067254237166, 1.314163370914279, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0003669728649054, "yaw_deg": -145.0943152405046 }, { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ -0.5358420835766168, -0.0457842493707698, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1705570390638913, "yaw_deg": -64.75461340088036 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ 0.06000755060182594, 0.36747127211159086, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1150712894222565, "yaw_deg": 177.3078666308641 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.2304696552040395, -0.34117399051786246, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8737420509223118, "yaw_deg": -103.91958298638778 }, { "asset_id": "PIP-018", "pitch_deg": 89.97907244757995, "position": [ -0.3467516364515484, 0.0352542977824723, 0.8258078537235705 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8882478924168662, "yaw_deg": 105.50880898716912 } ], "duration_s": 13.605936368447567, "episode_id": 33, "error_type": "wrong_rack", "frame_count": 408, "generation_success": true, "light_color_rgb": [ 0.9419058674462651, 0.92, 0.92 ], "light_intensity": 2760.4986015079958, "liquid": { "color_rgb": [ 0.022241650017113507, 0.3093509905808772, 0.2429820464804872 ], "fill_fraction": 0.46370006195296487, "opacity": 0.9035443986219582, "vortex_level_rise_fraction": 0.20672646747525697 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 1.9952090939851073, "direction_azimuth_deg": 178.16951739150272, "lateral_speed_mps": 0.06113128646964151, "phase": "lift_from_rack", "phase_fraction": 0.29669231493839554, "release_clearance_m": 0.004686109242540262, "release_tilt_deg": 118.67086631151027, "stage": "pickup", "tip_duration_s": 0.4271744277483968, "trigger_time_s": 1.6559946092595834, "tube_detach_fraction": 0.5961056866806848, "tube_engagement_fraction": 0.6920401128861243, "tube_on_rack": true, "upward_speed_mps": 0.041204842637082184 }, "rack_id": "TR-004", "rack_position": [ -0.08201139123978807, -0.03145766747299378, 0.79 ], "rack_yaw_deg": -27.164616833831914, "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": 9, "placements": [ { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ -0.12307510244906172, 1.1416718418157743, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0467613891666974, "yaw_deg": 92.01211976174125 }, { "asset_id": "RES-010", "pitch_deg": 0.0, "position": [ 0.6624729007601745, -0.19613472163505302, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.010719276336465, "yaw_deg": -146.93497442125525 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ -0.42127178209065436, 1.2640967589836969, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8982011825612758, "yaw_deg": 154.5833961800136 }, { "asset_id": "SBI-004", "pitch_deg": 0.0, "position": [ 0.6211622894179424, 0.1429263856661796, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0247105950390902, "yaw_deg": 174.74246044349343 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ 0.9243067254237166, 1.314163370914279, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.0003669728649054, "yaw_deg": -145.0943152405046 }, { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ -0.5358420835766168, -0.0457842493707698, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1705570390638913, "yaw_deg": -64.75461340088036 }, { "asset_id": "TIP-002", "pitch_deg": 0.0, "position": [ 0.06000755060182594, 0.36747127211159086, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1150712894222565, "yaw_deg": 177.3078666308641 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.2304696552040395, -0.34117399051786246, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8737420509223118, "yaw_deg": -103.91958298638778 }, { "asset_id": "PIP-018", "pitch_deg": 89.97907244757995, "position": [ -0.3467516364515484, 0.0352542977824723, 0.8258078537235705 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8882478924168662, "yaw_deg": 105.50880898716912 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.2624640599339363, 0.5436869719116327, 0.6678259292438371 ], "cabinet_color_rgb": [ 0.6840983633155189, 0.743055176557989, 0.7539232352000582 ], "floor_color_rgb": [ 0.31755528066618277, 0.3632830499322264, 0.4269249679377135 ], "screen_color_rgb": [ 0.49934387796155355, 0.7816875323404006, 0.9078598183840041 ], "style": "clean_room", "wall_color_rgb": [ 0.816944922460175, 0.8209155691667365, 0.9029551015516736 ] }, "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": [ 0.9419058674462651, 0.92, 0.92 ], "light_intensity": 2760.4986015079958, "table_color_rgb": [ 0.36, 0.42, 0.48 ] }, "layout": { "rack_position_m": [ -0.08201139123978807, -0.03145766747299378, 0.79 ], "rack_to_vortex_bearing_deg": -8.573438841575157, "rack_to_vortex_distance_m": 0.43177214370250894, "rack_yaw_deg": -27.164616833831914, "return_slot_offset_xy_m": [ 0.075, 0.0 ], "returns_to_different_slot": false, "start_slot_offset_xy_m": [ 0.075, 0.0 ], "tube_return_position_m": [ -0.015284004808089294, -0.06569881085335917, 0.8394 ], "tube_start_position_m": [ -0.015284004808089294, -0.06569881085335917, 0.8394 ], "vortex_contact_position_m": [ 0.33509867123207104, -0.040289481527385956, 1.0070000000000001 ], "vortex_position_m": [ 0.34493595624176626, -0.09582494608507221, 0.79 ], "vortex_yaw_deg": 10.044904383014654 }, "liquid": { "color_rgb": [ 0.022241650017113507, 0.3093509905808772, 0.2429820464804872 ], "effective_peak_level_fraction": 0.6704265294282219, "effective_vortex_level_rise_fraction": 0.20672646747525697, "fill_fraction": 0.46370006195296487, "opacity": 0.9035443986219582, "present": true, "vortex_level_rise_fraction": 0.20672646747525697 }, "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": 26590911, "trajectory": { "approach_pattern": "lean", "approach_sway_m": -0.006161954844470979, "depart_pattern": "straight", "depart_sway_m": 0.004223418982652188, "handling_noise_amplitude_m": 0.01458423788364643, "handling_noise_frequency_hz": 0.6952179501959508, "handling_noise_phase_xyz_rad": [ 4.958501862080012, 2.2814098766375808, 3.782128797871935 ], "lift_height_m": 0.13095875552963893, "orientation_noise_deg": 6.632881975743345, "outbound_curve_bias": -0.354618526731055, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 12.865363258884727, 13.605936368447567 ], "initial_hold": [ 0.0, 1.2181624694115072 ], "lift_from_rack": [ 1.2181624694115072, 2.6938735606778472 ], "lower_to_rack": [ 11.744463048292525, 12.865363258884727 ], "lower_to_vortex": [ 4.531179988448162, 5.398091597348583 ], "raise_from_vortex": [ 8.533060405693865, 9.40444127555574 ], "transfer_to_rack": [ 9.40444127555574, 11.744463048292525 ], "transfer_to_vortex": [ 2.6938735606778472, 4.531179988448162 ], "vortex": [ 5.398091597348583, 8.533060405693865 ] }, "pick_line_azimuth_deg": 161.89825590376364, "pick_line_tilt_deg": 1.9272293120032495, "pick_pattern": "lean", "pick_sway_m": -0.00569052482385746, "put_pattern": "straight", "put_sway_m": -0.00448786196166172, "rack_put_height_m": 0.3119434366943704, "return_bend_scale": 1.7186838472087131, "return_curve_bias": 0.5468757959488135, "return_pattern": "late_swoop", "return_side": -1.0, "return_vertical_arc_scale": 1.3199885760148515, "transfer_bend_m": 0.308054215419549, "transfer_side": -1.0, "transport_tilt_deg": 0.22502483664745987, "vertical_arc_m": 0.1474187846927076, "vortex_apparent_frequency_hz": 9.835438402521739, "vortex_approach_height_m": 0.3235939121056295, "vortex_depart_height_m": 0.12133541402107284, "vortex_frequency_hz": 20.16456159747826, "vortex_phase_rad": 3.2395879596897728, "vortex_radius_m": 0.0007478359697099226, "vortex_tilt_deg": 0.7235430467932471 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.075, 0.0 ], "scene_id": "wrong_rack/scene_000033", "schema_version": 15, "seed": 26590911, "shared_state_file": "shared_state.npz", "shared_state_sha256": "6ce11773533a3e058173c8ccc892515dea5b4d07171ddbfa3f2eff027ccf3b5d", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ 0.075, 0.0 ], "subtype_event": { "category": "wrong_rack", "event_phase": "lower_to_rack", "event_time_s": 12.557585554258909, "is_failure": true, "randomized_parameters": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.5044683223783062, -0.38244469301984985, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 164.79235982157172, "release_lateral_offset_m": 0.016943103054843058, "release_phase_fraction": 0.7254191749475976, "release_tilt_deg": 33.50231884457616, "release_time_s": 12.557585554258909, "slot_offset_xy": [ -0.04, 0.0 ], "tube_target_position": [ -0.544395357537848, -0.38485961814678793, 0.8500000000000001 ], "yaw_deg": 3.4612302640014576 }, "realized_outcome": { "fall_distance_m": 0.08451676621234139, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 80.08551788330078, "final_linear_speed_mps": 0.02548813261091709, "final_linear_velocity_mps": [ -0.0025109099224209785, -0.02536415122449398, -2.7690055048879003e-06 ], "final_position_m": [ -0.5974374413490295, -0.4246114194393158, 0.8083625435829163 ], "final_protected_visual_minimum_z_m": 0.7902500435829173, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99998067852832, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.7971729040145874, "first_impact_position_m": [ -0.5608637928962708, -0.38078516721725464, 0.8541613221168518 ], "first_impact_time_s": 12.633333333333333, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.806433379650116, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 164.79235982157172, "planned_release_lateral_offset_m": 0.016943103054843058, "planned_release_tilt_deg": 33.50231884457616, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.040950145862457266, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7254191749475976, "release_position_m": [ -0.5445139983489815, -0.3852296513673523, 0.8909501458624574 ], "release_time_s": 12.557585554258909, "support_clearance_m": 0.0002500435829172476, "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": [ 0.36, 0.42, 0.48 ], "task": "vortexing", "trajectory": { "approach_pattern": "lean", "approach_sway_m": -0.006161954844470979, "depart_pattern": "straight", "depart_sway_m": 0.004223418982652188, "handling_noise_amplitude_m": 0.01458423788364643, "handling_noise_frequency_hz": 0.6952179501959508, "handling_noise_phase_xyz_rad": [ 4.958501862080012, 2.2814098766375808, 3.782128797871935 ], "lift_height_m": 0.13095875552963893, "orientation_noise_deg": 6.632881975743345, "outbound_curve_bias": -0.354618526731055, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 12.865363258884727, 13.605936368447567 ], "initial_hold": [ 0.0, 1.2181624694115072 ], "lift_from_rack": [ 1.2181624694115072, 2.6938735606778472 ], "lower_to_rack": [ 11.744463048292525, 12.865363258884727 ], "lower_to_vortex": [ 4.531179988448162, 5.398091597348583 ], "raise_from_vortex": [ 8.533060405693865, 9.40444127555574 ], "transfer_to_rack": [ 9.40444127555574, 11.744463048292525 ], "transfer_to_vortex": [ 2.6938735606778472, 4.531179988448162 ], "vortex": [ 5.398091597348583, 8.533060405693865 ] }, "pick_line_azimuth_deg": 161.89825590376364, "pick_line_tilt_deg": 1.9272293120032495, "pick_pattern": "lean", "pick_sway_m": -0.00569052482385746, "put_pattern": "straight", "put_sway_m": -0.00448786196166172, "rack_put_height_m": 0.3119434366943704, "return_bend_scale": 1.7186838472087131, "return_curve_bias": 0.5468757959488135, "return_pattern": "late_swoop", "return_side": -1.0, "return_vertical_arc_scale": 1.3199885760148515, "transfer_bend_m": 0.308054215419549, "transfer_side": -1.0, "transport_tilt_deg": 0.22502483664745987, "vertical_arc_m": 0.1474187846927076, "vortex_apparent_frequency_hz": 9.835438402521739, "vortex_approach_height_m": 0.3235939121056295, "vortex_depart_height_m": 0.12133541402107284, "vortex_frequency_hz": 20.16456159747826, "vortex_phase_rad": 3.2395879596897728, "vortex_radius_m": 0.0007478359697099226, "vortex_tilt_deg": 0.7235430467932471 }, "trajectory_validation": { "duration_s": 13.605936368447567, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 4.2177517364487e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.00972582149499018, "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": 0.6725871779090902, "release_time_s": 3.929622305886115, "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": [ -0.015284004808089294, -0.06569881085335917, 0.8394 ], "tube_start_position": [ -0.015284004808089294, -0.06569881085335917, 0.8394 ], "video": "front.mp4", "video_sha256": "2ad0488f6e6af35a9c92be44e33142de9ecb6e491da16c413aa3a0c679e179eb", "video_validation": { "actual_frame_count": 408, "content_valid": true, "decode_error": null, "expected_frame_count": 408, "frame_count_valid": true, "full_decode_frame_count": 408, "max_changed_pixel_fraction": 0.011665798611111111, "mean_luminance": 157.9530792236328, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 68, 136, 204, 271, 339, 407 ], "spatial_standard_deviation": 30.47953987121582, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ 0.33509867123207104, -0.040289481527385956, 1.0070000000000001 ], "vortex_id": "VTX-001", "vortex_position": [ 0.34493595624176626, -0.09582494608507221, 0.79 ], "vortex_yaw_deg": 10.044904383014654, "wrong_orientation": { "azimuth_deg": 87.85593638767267, "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": [ -0.5044683223783062, -0.38244469301984985, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 164.79235982157172, "release_lateral_offset_m": 0.016943103054843058, "release_phase_fraction": 0.7254191749475976, "release_tilt_deg": 33.50231884457616, "release_time_s": 12.557585554258909, "slot_offset_xy": [ -0.04, 0.0 ], "tube_target_position": [ -0.544395357537848, -0.38485961814678793, 0.8500000000000001 ], "yaw_deg": 3.4612302640014576 }, "wrong_rack_physics": { "fall_distance_m": 0.08451676621234139, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 80.08551788330078, "final_linear_speed_mps": 0.02548813261091709, "final_linear_velocity_mps": [ -0.0025109099224209785, -0.02536415122449398, -2.7690055048879003e-06 ], "final_position_m": [ -0.5974374413490295, -0.4246114194393158, 0.8083625435829163 ], "final_protected_visual_minimum_z_m": 0.7902500435829173, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99998067852832, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.7971729040145874, "first_impact_position_m": [ -0.5608637928962708, -0.38078516721725464, 0.8541613221168518 ], "first_impact_time_s": 12.633333333333333, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.806433379650116, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 164.79235982157172, "planned_release_lateral_offset_m": 0.016943103054843058, "planned_release_tilt_deg": 33.50231884457616, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.040950145862457266, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7254191749475976, "release_position_m": [ -0.5445139983489815, -0.3852296513673523, 0.8909501458624574 ], "release_time_s": 12.557585554258909, "support_clearance_m": 0.0002500435829172476, "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" } }