| { |
| "metadata": { |
| "generated_at": "2026-03-20T22:41:26Z", |
| "total_experiments": 10000, |
| "elapsed_seconds": 16101.7, |
| "mode": "isaac_sim", |
| "seed": 2026, |
| "lhs_dimensions": 5, |
| "parameter_space": { |
| "friction": { |
| "low": 0.05, |
| "high": 1.2, |
| "scale": "log" |
| }, |
| "mass": { |
| "low": 0.05, |
| "high": 2.0, |
| "scale": "log" |
| }, |
| "com_offset": { |
| "low": 0.0, |
| "high": 0.4, |
| "scale": "linear" |
| }, |
| "size": { |
| "low": 0.02, |
| "high": 0.12, |
| "scale": "linear" |
| }, |
| "ik_noise": { |
| "low": 0.0, |
| "high": 0.04, |
| "scale": "linear" |
| } |
| }, |
| "shapes": [ |
| "box", |
| "cylinder", |
| "sphere", |
| "L_shape", |
| "irregular" |
| ], |
| "placements": [ |
| "center_0", |
| "center_45", |
| "center_90", |
| "edge_0", |
| "edge_45", |
| "edge_90", |
| "left_0", |
| "left_45", |
| "right_0", |
| "right_45", |
| "rotated_0", |
| "rotated_45", |
| "rotated_90", |
| "rotated_135" |
| ], |
| "obstacle_range": [ |
| 0, |
| 4 |
| ], |
| "sha256": "c0aaa1c706549771534d1b3242a48964bc190df8e4048db9c75dfecf521f86cf" |
| }, |
| "analysis": { |
| "overview": { |
| "total": 10000, |
| "success_count": 3332, |
| "failure_count": 6668, |
| "success_rate": 0.3332, |
| "zones": { |
| "safe": 35, |
| "boundary": 2157, |
| "danger": 7808 |
| } |
| }, |
| "parameter_buckets": { |
| "friction": [ |
| { |
| "range": "0.0500-0.1650", |
| "count": 3757, |
| "failure_rate": 0.8086, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1650-0.2799", |
| "count": 1663, |
| "failure_rate": 0.7535, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2799-0.3949", |
| "count": 1083, |
| "failure_rate": 0.7175, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3949-0.5099", |
| "count": 803, |
| "failure_rate": 0.6227, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.5099-0.6248", |
| "count": 640, |
| "failure_rate": 0.5422, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.6248-0.7398", |
| "count": 532, |
| "failure_rate": 0.4192, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.7398-0.8547", |
| "count": 454, |
| "failure_rate": 0.359, |
| "primary_failure": "collision" |
| }, |
| { |
| "range": "0.8547-0.9697", |
| "count": 398, |
| "failure_rate": 0.3417, |
| "primary_failure": "collision" |
| }, |
| { |
| "range": "0.9697-1.0847", |
| "count": 352, |
| "failure_rate": 0.375, |
| "primary_failure": "collision" |
| }, |
| { |
| "range": "1.0847-1.1996", |
| "count": 318, |
| "failure_rate": 0.3113, |
| "primary_failure": "timeout" |
| } |
| ], |
| "mass": [ |
| { |
| "range": "0.0500-0.2449", |
| "count": 4308, |
| "failure_rate": 0.6096, |
| "primary_failure": "grip_loss" |
| }, |
| { |
| "range": "0.2449-0.4399", |
| "count": 1586, |
| "failure_rate": 0.6154, |
| "primary_failure": "grip_loss" |
| }, |
| { |
| "range": "0.4399-0.6348", |
| "count": 995, |
| "failure_rate": 0.605, |
| "primary_failure": "grip_loss" |
| }, |
| { |
| "range": "0.6348-0.8297", |
| "count": 726, |
| "failure_rate": 0.6818, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.8297-1.0247", |
| "count": 572, |
| "failure_rate": 0.7483, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.0247-1.2196", |
| "count": 472, |
| "failure_rate": 0.7775, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.2196-1.4146", |
| "count": 402, |
| "failure_rate": 0.8333, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.4146-1.6095", |
| "count": 350, |
| "failure_rate": 0.8829, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.6095-1.8044", |
| "count": 310, |
| "failure_rate": 0.8742, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.8044-1.9994", |
| "count": 279, |
| "failure_rate": 0.9283, |
| "primary_failure": "timeout" |
| } |
| ], |
| "com_offset": [ |
| { |
| "range": "0.0000-0.0400", |
| "count": 1000, |
| "failure_rate": 0.667, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0400-0.0800", |
| "count": 1000, |
| "failure_rate": 0.684, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0800-0.1200", |
| "count": 1000, |
| "failure_rate": 0.671, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1200-0.1600", |
| "count": 1000, |
| "failure_rate": 0.646, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1600-0.2000", |
| "count": 999, |
| "failure_rate": 0.6637, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2000-0.2400", |
| "count": 1001, |
| "failure_rate": 0.6643, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2400-0.2800", |
| "count": 1000, |
| "failure_rate": 0.706, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2800-0.3200", |
| "count": 1000, |
| "failure_rate": 0.678, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3200-0.3600", |
| "count": 999, |
| "failure_rate": 0.6336, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3600-0.4000", |
| "count": 1001, |
| "failure_rate": 0.6543, |
| "primary_failure": "timeout" |
| } |
| ], |
| "size": [ |
| { |
| "range": "0.0200-0.0300", |
| "count": 1000, |
| "failure_rate": 0.738, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0300-0.0400", |
| "count": 1000, |
| "failure_rate": 0.695, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0400-0.0500", |
| "count": 1001, |
| "failure_rate": 0.6693, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0500-0.0600", |
| "count": 999, |
| "failure_rate": 0.6937, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0600-0.0700", |
| "count": 1000, |
| "failure_rate": 0.67, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0700-0.0800", |
| "count": 1000, |
| "failure_rate": 0.649, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0800-0.0900", |
| "count": 1000, |
| "failure_rate": 0.652, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0900-0.1000", |
| "count": 1000, |
| "failure_rate": 0.62, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1000-0.1100", |
| "count": 1000, |
| "failure_rate": 0.644, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1100-0.1200", |
| "count": 1000, |
| "failure_rate": 0.637, |
| "primary_failure": "timeout" |
| } |
| ], |
| "ik_noise": [ |
| { |
| "range": "0.0000-0.0040", |
| "count": 1000, |
| "failure_rate": 0.601, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0040-0.0080", |
| "count": 1000, |
| "failure_rate": 0.619, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0080-0.0120", |
| "count": 1000, |
| "failure_rate": 0.622, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0120-0.0160", |
| "count": 999, |
| "failure_rate": 0.6446, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0160-0.0200", |
| "count": 1001, |
| "failure_rate": 0.6294, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0200-0.0240", |
| "count": 1000, |
| "failure_rate": 0.648, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0240-0.0280", |
| "count": 999, |
| "failure_rate": 0.6777, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0280-0.0320", |
| "count": 1000, |
| "failure_rate": 0.714, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0320-0.0360", |
| "count": 1001, |
| "failure_rate": 0.7413, |
| "primary_failure": "grasp_miss" |
| }, |
| { |
| "range": "0.0360-0.0400", |
| "count": 999, |
| "failure_rate": 0.7708, |
| "primary_failure": "grasp_miss" |
| } |
| ] |
| }, |
| "shape_analysis": [ |
| { |
| "value": "sphere", |
| "count": 2094, |
| "failure_rate": 0.6867, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "L_shape", |
| "count": 1947, |
| "failure_rate": 0.6764, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "irregular", |
| "count": 1944, |
| "failure_rate": 0.6656, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "box", |
| "count": 2029, |
| "failure_rate": 0.6609, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "cylinder", |
| "count": 1986, |
| "failure_rate": 0.6435, |
| "primary_failure": "timeout" |
| } |
| ], |
| "placement_analysis": [ |
| { |
| "value": "left_0", |
| "count": 727, |
| "failure_rate": 0.8116, |
| "primary_failure": "collision" |
| }, |
| { |
| "value": "left_45", |
| "count": 725, |
| "failure_rate": 0.8069, |
| "primary_failure": "collision" |
| }, |
| { |
| "value": "right_0", |
| "count": 701, |
| "failure_rate": 0.6705, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "center_90", |
| "count": 703, |
| "failure_rate": 0.6629, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "edge_0", |
| "count": 648, |
| "failure_rate": 0.6497, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "center_0", |
| "count": 768, |
| "failure_rate": 0.6458, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "rotated_135", |
| "count": 725, |
| "failure_rate": 0.6441, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "rotated_45", |
| "count": 712, |
| "failure_rate": 0.6433, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "center_45", |
| "count": 747, |
| "failure_rate": 0.6399, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "right_45", |
| "count": 723, |
| "failure_rate": 0.639, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "rotated_90", |
| "count": 694, |
| "failure_rate": 0.6369, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "rotated_0", |
| "count": 701, |
| "failure_rate": 0.6277, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "edge_45", |
| "count": 702, |
| "failure_rate": 0.6268, |
| "primary_failure": "timeout" |
| }, |
| { |
| "value": "edge_90", |
| "count": 724, |
| "failure_rate": 0.6257, |
| "primary_failure": "timeout" |
| } |
| ], |
| "danger_thresholds": { |
| "friction": [ |
| { |
| "range": "0.0500-0.1075", |
| "count": 2409, |
| "failure_rate": 0.8174, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1075-0.1650", |
| "count": 1348, |
| "failure_rate": 0.793, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1650-0.2225", |
| "count": 940, |
| "failure_rate": 0.7553, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2225-0.2799", |
| "count": 723, |
| "failure_rate": 0.751, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2799-0.3374", |
| "count": 588, |
| "failure_rate": 0.7194, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3374-0.3949", |
| "count": 495, |
| "failure_rate": 0.7152, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3949-0.4524", |
| "count": 428, |
| "failure_rate": 0.6589, |
| "primary_failure": "timeout" |
| } |
| ], |
| "mass": [ |
| { |
| "range": "0.6348-0.7323", |
| "count": 387, |
| "failure_rate": 0.6589, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.7323-0.8297", |
| "count": 339, |
| "failure_rate": 0.708, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.8297-0.9272", |
| "count": 301, |
| "failure_rate": 0.7043, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.9272-1.0247", |
| "count": 271, |
| "failure_rate": 0.797, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.0247-1.1221", |
| "count": 247, |
| "failure_rate": 0.7611, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.1221-1.2196", |
| "count": 225, |
| "failure_rate": 0.7956, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.2196-1.3171", |
| "count": 209, |
| "failure_rate": 0.8278, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.3171-1.4146", |
| "count": 193, |
| "failure_rate": 0.8394, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.4146-1.5120", |
| "count": 181, |
| "failure_rate": 0.8785, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.5120-1.6095", |
| "count": 169, |
| "failure_rate": 0.8876, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.6095-1.7070", |
| "count": 160, |
| "failure_rate": 0.875, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.7070-1.8044", |
| "count": 150, |
| "failure_rate": 0.8733, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.8044-1.9019", |
| "count": 142, |
| "failure_rate": 0.9155, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "1.9019-1.9994", |
| "count": 137, |
| "failure_rate": 0.9416, |
| "primary_failure": "timeout" |
| } |
| ], |
| "com_offset": [ |
| { |
| "range": "0.0000-0.0200", |
| "count": 500, |
| "failure_rate": 0.694, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0400-0.0600", |
| "count": 500, |
| "failure_rate": 0.712, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0600-0.0800", |
| "count": 500, |
| "failure_rate": 0.656, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0800-0.1000", |
| "count": 501, |
| "failure_rate": 0.6946, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1600-0.1800", |
| "count": 500, |
| "failure_rate": 0.67, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1800-0.2000", |
| "count": 499, |
| "failure_rate": 0.6573, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2000-0.2200", |
| "count": 501, |
| "failure_rate": 0.6766, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2200-0.2400", |
| "count": 500, |
| "failure_rate": 0.652, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2400-0.2600", |
| "count": 500, |
| "failure_rate": 0.728, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.2600-0.2800", |
| "count": 500, |
| "failure_rate": 0.684, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3000-0.3200", |
| "count": 500, |
| "failure_rate": 0.712, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3600-0.3800", |
| "count": 501, |
| "failure_rate": 0.6567, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.3800-0.4000", |
| "count": 500, |
| "failure_rate": 0.652, |
| "primary_failure": "timeout" |
| } |
| ], |
| "size": [ |
| { |
| "range": "0.0200-0.0250", |
| "count": 501, |
| "failure_rate": 0.7405, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0250-0.0300", |
| "count": 499, |
| "failure_rate": 0.7355, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0300-0.0350", |
| "count": 501, |
| "failure_rate": 0.7126, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0350-0.0400", |
| "count": 499, |
| "failure_rate": 0.6774, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0400-0.0450", |
| "count": 500, |
| "failure_rate": 0.688, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0450-0.0500", |
| "count": 501, |
| "failure_rate": 0.6507, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0500-0.0550", |
| "count": 499, |
| "failure_rate": 0.6994, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0550-0.0600", |
| "count": 500, |
| "failure_rate": 0.688, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0600-0.0650", |
| "count": 500, |
| "failure_rate": 0.656, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0650-0.0700", |
| "count": 500, |
| "failure_rate": 0.684, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0750-0.0800", |
| "count": 500, |
| "failure_rate": 0.662, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0850-0.0900", |
| "count": 500, |
| "failure_rate": 0.666, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1050-0.1100", |
| "count": 501, |
| "failure_rate": 0.6527, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.1100-0.1150", |
| "count": 500, |
| "failure_rate": 0.664, |
| "primary_failure": "timeout" |
| } |
| ], |
| "ik_noise": [ |
| { |
| "range": "0.0120-0.0140", |
| "count": 500, |
| "failure_rate": 0.65, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0220-0.0240", |
| "count": 500, |
| "failure_rate": 0.65, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0240-0.0260", |
| "count": 500, |
| "failure_rate": 0.688, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0260-0.0280", |
| "count": 499, |
| "failure_rate": 0.6673, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0280-0.0300", |
| "count": 501, |
| "failure_rate": 0.6986, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0300-0.0320", |
| "count": 499, |
| "failure_rate": 0.7295, |
| "primary_failure": "grasp_miss" |
| }, |
| { |
| "range": "0.0320-0.0340", |
| "count": 501, |
| "failure_rate": 0.7246, |
| "primary_failure": "timeout" |
| }, |
| { |
| "range": "0.0340-0.0360", |
| "count": 500, |
| "failure_rate": 0.758, |
| "primary_failure": "grasp_miss" |
| }, |
| { |
| "range": "0.0360-0.0380", |
| "count": 499, |
| "failure_rate": 0.7555, |
| "primary_failure": "grasp_miss" |
| }, |
| { |
| "range": "0.0380-0.0400", |
| "count": 500, |
| "failure_rate": 0.786, |
| "primary_failure": "grasp_miss" |
| } |
| ] |
| }, |
| "top_failure_modes": [ |
| { |
| "type": "timeout", |
| "count": 2639, |
| "pct": 0.3958 |
| }, |
| { |
| "type": "grip_loss", |
| "count": 1870, |
| "pct": 0.2804 |
| }, |
| { |
| "type": "collision", |
| "count": 1124, |
| "pct": 0.1686 |
| }, |
| { |
| "type": "grasp_miss", |
| "count": 1035, |
| "pct": 0.1552 |
| } |
| ], |
| "top_dangerous_combinations": [ |
| { |
| "grasp_difficulty": 0.6676, |
| "friction": 0.053901, |
| "mass": 0.126251, |
| "size": 0.020522, |
| "shape": "L_shape", |
| "placement": "left_0", |
| "success": false, |
| "fail_prob": 0.9755 |
| }, |
| { |
| "grasp_difficulty": 0.6671, |
| "friction": 0.051463, |
| "mass": 0.062959, |
| "size": 0.026202, |
| "shape": "irregular", |
| "placement": "edge_0", |
| "success": false, |
| "fail_prob": 0.9812 |
| }, |
| { |
| "grasp_difficulty": 0.6656, |
| "friction": 0.072004, |
| "mass": 0.863536, |
| "size": 0.021871, |
| "shape": "sphere", |
| "placement": "edge_45", |
| "success": true, |
| "fail_prob": 0.9872 |
| }, |
| { |
| "grasp_difficulty": 0.6633, |
| "friction": 0.069074, |
| "mass": 1.009463, |
| "size": 0.021884, |
| "shape": "sphere", |
| "placement": "rotated_135", |
| "success": false, |
| "fail_prob": 0.9824 |
| }, |
| { |
| "grasp_difficulty": 0.6616, |
| "friction": 0.07475, |
| "mass": 0.097276, |
| "size": 0.024887, |
| "shape": "sphere", |
| "placement": "rotated_135", |
| "success": false, |
| "fail_prob": 0.9612 |
| }, |
| { |
| "grasp_difficulty": 0.6613, |
| "friction": 0.059351, |
| "mass": 0.189121, |
| "size": 0.021164, |
| "shape": "sphere", |
| "placement": "center_45", |
| "success": false, |
| "fail_prob": 0.9707 |
| }, |
| { |
| "grasp_difficulty": 0.6607, |
| "friction": 0.058698, |
| "mass": 0.506708, |
| "size": 0.027198, |
| "shape": "irregular", |
| "placement": "edge_45", |
| "success": false, |
| "fail_prob": 0.9733 |
| }, |
| { |
| "grasp_difficulty": 0.6591, |
| "friction": 0.056461, |
| "mass": 0.093489, |
| "size": 0.029205, |
| "shape": "irregular", |
| "placement": "edge_0", |
| "success": false, |
| "fail_prob": 0.9669 |
| }, |
| { |
| "grasp_difficulty": 0.6579, |
| "friction": 0.06935, |
| "mass": 0.240865, |
| "size": 0.024609, |
| "shape": "box", |
| "placement": "rotated_0", |
| "success": false, |
| "fail_prob": 0.9551 |
| }, |
| { |
| "grasp_difficulty": 0.6571, |
| "friction": 0.050974, |
| "mass": 0.325743, |
| "size": 0.027411, |
| "shape": "box", |
| "placement": "rotated_45", |
| "success": false, |
| "fail_prob": 0.9285 |
| } |
| ], |
| "pearson_correlations": { |
| "friction": 0.3557, |
| "mass": -0.1963, |
| "com_offset": 0.0101, |
| "size": 0.0618, |
| "ik_noise": -0.1099, |
| "obstacles": -0.0059, |
| "fail_prob": -0.2123, |
| "grasp_difficulty": -0.3432, |
| "friction_mass_index": 0.0153 |
| }, |
| "phase2_recommendations": { |
| "boundary_zone_ratio": 0.2157, |
| "boundary_zone_count": 2157, |
| "focus_params": [ |
| "friction", |
| "grasp_difficulty", |
| "fail_prob", |
| "mass" |
| ], |
| "suggested_gp_sample_count": 500 |
| } |
| } |
| } |
