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"failure_type": "miss_grasp", + "failure_frame": 39, + "recovery_frame": 42, + "failure_observed": true, + "failure_detection": "initial grasp did not lift object", + "pre_failure_position_m": [ + 0.06729523264793424, + 0.006711263540872925, + 0.15436375068532185 + ], + "success": true, + "physics_validated": true, + "control_model": "cartesian_parallel_gripper", + "robot_embodiment": "simforge_cartesian_gripper_v1", + "task": "pallet_cell_placement_box", + "task_contract": { + "id": "pallet_cell_placement_box", + "action_semantics": "cartesian_parallel_gripper", + "action_dimension": 5, + "observation_action_alignment": "observation at t; action applies over [t, t+1/fps)", + "success_rule": "observed fault, completed recovery release, final position error < 0.025 m, final speed < 0.08 m/s, symmetry-axis tilt <= 15 degrees, and physical object contact with the named target support", + "split_granularity": "complete_episode" + }, + "workcell": { + "id": "pallet_cell_placement", + "physical_components": [ + "pallet_cell", + "pallet_guide_left", + "pallet_guide_right" + ], + "motion_model": "static_single_cell", + "scope": "one rigid pallet cell; no multi-layer stack stability or deformable packaging model" + }, + "placement_contract": { + "source_surface": "table", + "target_surface": "single_pallet_cell", + "target_pose_type": "upright_centered", + "target_support_geom": "pallet_cell" + }, + "action_names": [ + "stage_x", + "stage_y", + "stage_z", + "left_close", + "right_close" + ], + "action_units": [ + "m", + "m", + "m", + "m", + "m" + ], + "action_semantics": "absolute position servo targets for three Cartesian stages and two opposing fingers", + "action_observation_alignment": "observation at t; action drives gripper over [t, t+1/fps)", + "state_semantics": "qpos[12] followed by qvel[11]; object xyz+wxyz occupies qpos[5:12]", + "object_pose_quaternion_order": "wxyz", + "goal_position_m": [ + 0.2, + 0.0, + 0.059000000000000004 + ], + "final_position_error_m": 3.5961822975849195e-05, + "final_linear_speed_m_s": 1.3915044154939289e-11, + "final_orientation_error_deg": 0.0, + "final_target_surface_contact": true, + "placement_inside_target": true, + "obstacle_penetration_min_m": 0.0, + "depth_kind": "geometric_first_surface", + "depth_unit": "m", + "sensor_depth_simulated": false, + "normal_method": "finite differences of unprojected geometric depth", + "camera_calibration": { + "front": { + "width": 160, + "height": 120, + "fovy_deg": 42.0, + "intrinsic_matrix": [ + [ + 156.3053438816281, + 0, + 79.5 + ], + [ + 0, + 156.3053438816281, + 59.5 + ], + [ + 0, + 0, + 1 + ] + ], + "world_position": [ + 0.48, + -0.6, + 0.4 + ], + "world_rotation": [ + [ + 0.8320502943378435, + -0.2308242652636063, + 0.5043931663472694 + ], + [ + 0.5547001962252291, + 0.34623639789540916, + -0.7565897495209039 + ], + [ + 5.551115123125783e-17, + 0.9093077121293583, + 0.4161243620146168 + ] + ], + "coordinates": "MuJoCo OpenGL camera: +X 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