File size: 4,892 Bytes
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"version": "source_stack_registration_v1_fixed_synthetic_table_v1",
"units": "m",
"rotation_convention": "right_handed_rotation_matrix",
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},
"source_registration_status": "estimated planar extrinsics and shared axial virtual grasp from 99 stacking release pairs; not measured calibration",
"source_analysis_sha256": "fe837bcb1d2edb90852924bafc15629f339b54f4632e97b5d241d9fae915ec91",
"source_model_hashes": {
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"target": "53fd2c3d4f892edd219c2ea3a0ff7639b697f78286a75f4df85cf4e9bf897452",
"gripper": "9a411382c625b12287a3e13b727de8550810ac4e977d2ccde8b7bec31036ea96"
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"synthetic_placement": {
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"table_top_world_m": [
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"assumptions": [
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"virtual grasp origin approximates cube centre at both releases",
"median release-height difference approximates cube side"
],
"not_identified_from_xy_data": true,
"not_hardware_calibration": true
},
"placement_rule": "source +X forward maps to world -Y; source +Y left maps to world +X; source-base midpoint lies at near table edge; no per-episode centroid or IK-score fit"
},
"unknowns": [
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"actual source and target contact TCP origins",
"whether source mounts are identical across task recordings",
"source object poses and task dynamics"
],
"hardware_ready": false,
"task_goal_or_object_success_verified": false,
"geometry_fields_editable": false,
"frozen_before_target_ik_test": true
} |