Hugging Face's logo

Datasets:
VideoWorldmodel
/
ReasoningStructureTestset

Tasks:
Video Classification
Other
Languages:
English
Size:
1K<n<10K
Tags:
world-model
video-generation
action-conditioned
unreal-engine-5
compositional-reasoning
benchmark
License:
Dataset card Files
xet
 Community
1
VideoWorldmodel commited on
Commit
c687cc1
·
verified ·
1 Parent(s): 546f2fa

Add strict-closure Loop videos and metadata: batch 28/100

Browse files
Files changed (20) hide show
  1. loop_new/run_20260427_155728__traj_000494.mp4 +3 -0
  2. loop_new/run_20260427_155728__traj_000494_meta.json +1482 -0
  3. loop_new/run_20260427_155728__traj_000497.mp4 +3 -0
  4. loop_new/run_20260427_155728__traj_000497_meta.json +1482 -0
  5. loop_new/run_20260427_155728__traj_000499.mp4 +3 -0
  6. loop_new/run_20260427_155728__traj_000499_meta.json +1482 -0
  7. loop_new/run_20260427_155728__traj_000500.mp4 +3 -0
  8. loop_new/run_20260427_155728__traj_000500_meta.json +1482 -0
  9. loop_new/run_20260427_155728__traj_000507.mp4 +3 -0
  10. loop_new/run_20260427_155728__traj_000507_meta.json +1482 -0
  11. loop_new/run_20260427_155728__traj_000510.mp4 +3 -0
  12. loop_new/run_20260427_155728__traj_000510_meta.json +1482 -0
  13. loop_new/run_20260427_155728__traj_000513.mp4 +3 -0
  14. loop_new/run_20260427_155728__traj_000513_meta.json +1482 -0
  15. loop_new/run_20260427_155728__traj_000516.mp4 +3 -0
  16. loop_new/run_20260427_155728__traj_000516_meta.json +1482 -0
  17. loop_new/run_20260427_155728__traj_000519.mp4 +3 -0
  18. loop_new/run_20260427_155728__traj_000519_meta.json +1482 -0
  19. loop_new/run_20260427_155728__traj_000523.mp4 +3 -0
  20. loop_new/run_20260427_155728__traj_000523_meta.json +1482 -0
loop_new/run_20260427_155728__traj_000494.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aeef09a5d3008e0fa058c0b3370cb26066a5ad5f032dcd1f1e8563dc2900ad2f
3
+ size 28904532
loop_new/run_20260427_155728__traj_000494_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 494,
3
+ "episode_id": 0,
4
+ "state_id": 78,
5
+ "sample_index": 78,
6
+ "trajectory_index_at_point": 0,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -27780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 180.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "turn_right",
55
+ "turn_right",
56
+ "turn_right",
57
+ "turn_right",
58
+ "move_forward",
59
+ "turn_right",
60
+ "turn_right",
61
+ "turn_right",
62
+ "turn_right",
63
+ "move_forward",
64
+ "turn_right",
65
+ "turn_right",
66
+ "turn_right",
67
+ "turn_right",
68
+ "move_forward",
69
+ "turn_right",
70
+ "turn_right",
71
+ "turn_right",
72
+ "turn_right",
73
+ "move_forward",
74
+ "turn_right",
75
+ "turn_right",
76
+ "turn_right",
77
+ "turn_right",
78
+ "move_forward",
79
+ "turn_right",
80
+ "turn_right",
81
+ "turn_right",
82
+ "turn_right",
83
+ "no_op",
84
+ "no_op",
85
+ "no_op",
86
+ "no_op",
87
+ "no_op",
88
+ "no_op",
89
+ "no_op",
90
+ "no_op",
91
+ "no_op",
92
+ "no_op"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -27780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 180.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -29000.0,
153
+ -27780.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -29000.0,
158
+ -27780.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 180.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "turn_right",
173
+ "action_id": 5,
174
+ "start_pos": [
175
+ -29000.0,
176
+ -27780.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 180.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -29000.0,
186
+ -27780.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -29000.0,
191
+ -27780.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ -165.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "turn_right",
206
+ "action_id": 5,
207
+ "start_pos": [
208
+ -29000.0,
209
+ -27780.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ -165.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -29000.0,
219
+ -27780.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -29000.0,
224
+ -27780.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ -150.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "turn_right",
239
+ "action_id": 5,
240
+ "start_pos": [
241
+ -29000.0,
242
+ -27780.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ -150.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -29000.0,
252
+ -27780.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -29000.0,
257
+ -27780.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ -135.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_right",
272
+ "action_id": 5,
273
+ "start_pos": [
274
+ -29000.0,
275
+ -27780.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ -135.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -29000.0,
285
+ -27780.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -29000.0,
290
+ -27780.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ -120.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "move_forward",
305
+ "action_id": 0,
306
+ "start_pos": [
307
+ -29000.0,
308
+ -27780.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ -120.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -29050.0,
318
+ -27866.6025,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -29050.0,
323
+ -27866.6025,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ -120.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_right",
338
+ "action_id": 5,
339
+ "start_pos": [
340
+ -29050.0,
341
+ -27866.6025,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ -120.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -29050.0,
351
+ -27866.6025,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -29050.0,
356
+ -27866.6025,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ -105.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_right",
371
+ "action_id": 5,
372
+ "start_pos": [
373
+ -29050.0,
374
+ -27866.6025,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ -105.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -29050.0,
384
+ -27866.6025,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -29050.0,
389
+ -27866.6025,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ -90.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_right",
404
+ "action_id": 5,
405
+ "start_pos": [
406
+ -29050.0,
407
+ -27866.6025,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ -90.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -29050.0,
417
+ -27866.6025,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -29050.0,
422
+ -27866.6025,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ -75.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_right",
437
+ "action_id": 5,
438
+ "start_pos": [
439
+ -29050.0,
440
+ -27866.6025,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ -75.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -29050.0,
450
+ -27866.6025,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -29050.0,
455
+ -27866.6025,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ -60.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "move_forward",
470
+ "action_id": 0,
471
+ "start_pos": [
472
+ -29050.0,
473
+ -27866.6025,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ -60.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -29000.0,
483
+ -27953.2051,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -29000.0,
488
+ -27953.2051,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ -60.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "turn_right",
503
+ "action_id": 5,
504
+ "start_pos": [
505
+ -29000.0,
506
+ -27953.2051,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ -60.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -29000.0,
516
+ -27953.2051,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -29000.0,
521
+ -27953.2051,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ -45.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "turn_right",
536
+ "action_id": 5,
537
+ "start_pos": [
538
+ -29000.0,
539
+ -27953.2051,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ -45.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -29000.0,
549
+ -27953.2051,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -29000.0,
554
+ -27953.2051,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ -30.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "turn_right",
569
+ "action_id": 5,
570
+ "start_pos": [
571
+ -29000.0,
572
+ -27953.2051,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ -30.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -29000.0,
582
+ -27953.2051,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -29000.0,
587
+ -27953.2051,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ -15.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_right",
602
+ "action_id": 5,
603
+ "start_pos": [
604
+ -29000.0,
605
+ -27953.2051,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ -15.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -29000.0,
615
+ -27953.2051,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -29000.0,
620
+ -27953.2051,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ -0.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "move_forward",
635
+ "action_id": 0,
636
+ "start_pos": [
637
+ -29000.0,
638
+ -27953.2051,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ -0.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -28900.0,
648
+ -27953.2051,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -28900.0,
653
+ -27953.2051,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ -0.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "turn_right",
668
+ "action_id": 5,
669
+ "start_pos": [
670
+ -28900.0,
671
+ -27953.2051,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ -0.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -28900.0,
681
+ -27953.2051,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -28900.0,
686
+ -27953.2051,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ 15.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "turn_right",
701
+ "action_id": 5,
702
+ "start_pos": [
703
+ -28900.0,
704
+ -27953.2051,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ 15.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -28900.0,
714
+ -27953.2051,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -28900.0,
719
+ -27953.2051,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ 30.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_right",
734
+ "action_id": 5,
735
+ "start_pos": [
736
+ -28900.0,
737
+ -27953.2051,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ 30.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -28900.0,
747
+ -27953.2051,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -28900.0,
752
+ -27953.2051,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ 45.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_right",
767
+ "action_id": 5,
768
+ "start_pos": [
769
+ -28900.0,
770
+ -27953.2051,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ 45.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -28900.0,
780
+ -27953.2051,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -28900.0,
785
+ -27953.2051,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ 60.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "move_forward",
800
+ "action_id": 0,
801
+ "start_pos": [
802
+ -28900.0,
803
+ -27953.2051,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ 60.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -28850.0,
813
+ -27866.6025,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -28850.0,
818
+ -27866.6025,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ 60.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "turn_right",
833
+ "action_id": 5,
834
+ "start_pos": [
835
+ -28850.0,
836
+ -27866.6025,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ 60.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -28850.0,
846
+ -27866.6025,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -28850.0,
851
+ -27866.6025,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ 75.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "turn_right",
866
+ "action_id": 5,
867
+ "start_pos": [
868
+ -28850.0,
869
+ -27866.6025,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ 75.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -28850.0,
879
+ -27866.6025,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -28850.0,
884
+ -27866.6025,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ 90.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "turn_right",
899
+ "action_id": 5,
900
+ "start_pos": [
901
+ -28850.0,
902
+ -27866.6025,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ 90.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28850.0,
912
+ -27866.6025,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28850.0,
917
+ -27866.6025,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ 105.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "turn_right",
932
+ "action_id": 5,
933
+ "start_pos": [
934
+ -28850.0,
935
+ -27866.6025,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ 105.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28850.0,
945
+ -27866.6025,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28850.0,
950
+ -27866.6025,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ 120.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "move_forward",
965
+ "action_id": 0,
966
+ "start_pos": [
967
+ -28850.0,
968
+ -27866.6025,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ 120.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28900.0,
978
+ -27780.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28900.0,
983
+ -27780.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ 120.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_right",
998
+ "action_id": 5,
999
+ "start_pos": [
1000
+ -28900.0,
1001
+ -27780.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ 120.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28900.0,
1011
+ -27780.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28900.0,
1016
+ -27780.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ 135.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_right",
1031
+ "action_id": 5,
1032
+ "start_pos": [
1033
+ -28900.0,
1034
+ -27780.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ 135.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -27780.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -27780.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ 150.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_right",
1064
+ "action_id": 5,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -27780.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ 150.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -27780.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -27780.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ 165.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_right",
1097
+ "action_id": 5,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -27780.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ 165.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -27780.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -27780.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ 180.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "no_op",
1130
+ "action_id": 8,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -27780.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ 180.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -27780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -27780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ 180.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "no_op",
1163
+ "action_id": 8,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -27780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ 180.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -27780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -27780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ 180.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "no_op",
1196
+ "action_id": 8,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -27780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ 180.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -27780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -27780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ 180.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "no_op",
1229
+ "action_id": 8,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -27780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ 180.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -27780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -27780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ 180.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "no_op",
1262
+ "action_id": 8,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -27780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ 180.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -27780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -27780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ 180.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "no_op",
1295
+ "action_id": 8,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -27780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ 180.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -27780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -27780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ 180.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "no_op",
1328
+ "action_id": 8,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -27780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ 180.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -27780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -27780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ 180.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "no_op",
1361
+ "action_id": 8,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -27780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ 180.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -27780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -27780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ 180.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "no_op",
1394
+ "action_id": 8,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -27780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ 180.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -27780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -27780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ 180.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "no_op",
1427
+ "action_id": 8,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -27780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ 180.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -27780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -27780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 180.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000497.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d6a08c276c567f1086822281e362b384bb3d7b623ea6a87d276d18e9b18cfbc
3
+ size 26977471
loop_new/run_20260427_155728__traj_000497_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 497,
3
+ "episode_id": 0,
4
+ "state_id": 78,
5
+ "sample_index": 78,
6
+ "trajectory_index_at_point": 2,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -27780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 180.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "move_forward",
55
+ "turn_left",
56
+ "turn_left",
57
+ "turn_left",
58
+ "turn_left",
59
+ "turn_left",
60
+ "turn_left",
61
+ "move_forward",
62
+ "move_forward",
63
+ "turn_left",
64
+ "turn_left",
65
+ "turn_left",
66
+ "turn_left",
67
+ "turn_left",
68
+ "turn_left",
69
+ "move_forward",
70
+ "move_forward",
71
+ "turn_left",
72
+ "turn_left",
73
+ "turn_left",
74
+ "turn_left",
75
+ "turn_left",
76
+ "turn_left",
77
+ "move_forward",
78
+ "move_forward",
79
+ "turn_left",
80
+ "turn_left",
81
+ "turn_left",
82
+ "turn_left",
83
+ "turn_left",
84
+ "turn_left",
85
+ "no_op",
86
+ "no_op",
87
+ "no_op",
88
+ "no_op",
89
+ "no_op",
90
+ "no_op",
91
+ "no_op",
92
+ "no_op"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -27780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 180.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -29000.0,
153
+ -27780.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -29000.0,
158
+ -27780.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 180.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "move_forward",
173
+ "action_id": 0,
174
+ "start_pos": [
175
+ -29000.0,
176
+ -27780.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 180.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -29100.0,
186
+ -27780.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -29100.0,
191
+ -27780.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ 180.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "turn_left",
206
+ "action_id": 4,
207
+ "start_pos": [
208
+ -29100.0,
209
+ -27780.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ 180.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -29100.0,
219
+ -27780.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -29100.0,
224
+ -27780.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ 165.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "turn_left",
239
+ "action_id": 4,
240
+ "start_pos": [
241
+ -29100.0,
242
+ -27780.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ 165.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -29100.0,
252
+ -27780.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -29100.0,
257
+ -27780.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ 150.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_left",
272
+ "action_id": 4,
273
+ "start_pos": [
274
+ -29100.0,
275
+ -27780.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ 150.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -29100.0,
285
+ -27780.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -29100.0,
290
+ -27780.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ 135.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "turn_left",
305
+ "action_id": 4,
306
+ "start_pos": [
307
+ -29100.0,
308
+ -27780.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ 135.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -29100.0,
318
+ -27780.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -29100.0,
323
+ -27780.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ 120.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_left",
338
+ "action_id": 4,
339
+ "start_pos": [
340
+ -29100.0,
341
+ -27780.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ 120.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -29100.0,
351
+ -27780.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -29100.0,
356
+ -27780.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ 105.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_left",
371
+ "action_id": 4,
372
+ "start_pos": [
373
+ -29100.0,
374
+ -27780.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ 105.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -29100.0,
384
+ -27780.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -29100.0,
389
+ -27780.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ 90.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "move_forward",
404
+ "action_id": 0,
405
+ "start_pos": [
406
+ -29100.0,
407
+ -27780.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ 90.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -29100.0,
417
+ -27680.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -29100.0,
422
+ -27680.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ 90.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "move_forward",
437
+ "action_id": 0,
438
+ "start_pos": [
439
+ -29100.0,
440
+ -27680.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ 90.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -29100.0,
450
+ -27580.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -29100.0,
455
+ -27580.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ 90.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "turn_left",
470
+ "action_id": 4,
471
+ "start_pos": [
472
+ -29100.0,
473
+ -27580.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ 90.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -29100.0,
483
+ -27580.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -29100.0,
488
+ -27580.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ 75.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "turn_left",
503
+ "action_id": 4,
504
+ "start_pos": [
505
+ -29100.0,
506
+ -27580.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ 75.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -29100.0,
516
+ -27580.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -29100.0,
521
+ -27580.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ 60.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "turn_left",
536
+ "action_id": 4,
537
+ "start_pos": [
538
+ -29100.0,
539
+ -27580.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ 60.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -29100.0,
549
+ -27580.0,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -29100.0,
554
+ -27580.0,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ 45.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "turn_left",
569
+ "action_id": 4,
570
+ "start_pos": [
571
+ -29100.0,
572
+ -27580.0,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ 45.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -29100.0,
582
+ -27580.0,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -29100.0,
587
+ -27580.0,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ 30.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_left",
602
+ "action_id": 4,
603
+ "start_pos": [
604
+ -29100.0,
605
+ -27580.0,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ 30.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -29100.0,
615
+ -27580.0,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -29100.0,
620
+ -27580.0,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ 15.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "turn_left",
635
+ "action_id": 4,
636
+ "start_pos": [
637
+ -29100.0,
638
+ -27580.0,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ 15.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -29100.0,
648
+ -27580.0,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -29100.0,
653
+ -27580.0,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ -0.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "move_forward",
668
+ "action_id": 0,
669
+ "start_pos": [
670
+ -29100.0,
671
+ -27580.0,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ -0.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -29000.0,
681
+ -27580.0,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -29000.0,
686
+ -27580.0,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ -0.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "move_forward",
701
+ "action_id": 0,
702
+ "start_pos": [
703
+ -29000.0,
704
+ -27580.0,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ -0.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -28900.0,
714
+ -27580.0,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -28900.0,
719
+ -27580.0,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ -0.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_left",
734
+ "action_id": 4,
735
+ "start_pos": [
736
+ -28900.0,
737
+ -27580.0,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ -0.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -28900.0,
747
+ -27580.0,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -28900.0,
752
+ -27580.0,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ -15.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_left",
767
+ "action_id": 4,
768
+ "start_pos": [
769
+ -28900.0,
770
+ -27580.0,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ -15.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -28900.0,
780
+ -27580.0,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -28900.0,
785
+ -27580.0,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ -30.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "turn_left",
800
+ "action_id": 4,
801
+ "start_pos": [
802
+ -28900.0,
803
+ -27580.0,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ -30.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -28900.0,
813
+ -27580.0,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -28900.0,
818
+ -27580.0,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ -45.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "turn_left",
833
+ "action_id": 4,
834
+ "start_pos": [
835
+ -28900.0,
836
+ -27580.0,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ -45.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -28900.0,
846
+ -27580.0,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -28900.0,
851
+ -27580.0,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ -60.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "turn_left",
866
+ "action_id": 4,
867
+ "start_pos": [
868
+ -28900.0,
869
+ -27580.0,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ -60.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -28900.0,
879
+ -27580.0,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -28900.0,
884
+ -27580.0,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ -75.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "turn_left",
899
+ "action_id": 4,
900
+ "start_pos": [
901
+ -28900.0,
902
+ -27580.0,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ -75.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28900.0,
912
+ -27580.0,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28900.0,
917
+ -27580.0,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ -90.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "move_forward",
932
+ "action_id": 0,
933
+ "start_pos": [
934
+ -28900.0,
935
+ -27580.0,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ -90.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28900.0,
945
+ -27680.0,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28900.0,
950
+ -27680.0,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ -90.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "move_forward",
965
+ "action_id": 0,
966
+ "start_pos": [
967
+ -28900.0,
968
+ -27680.0,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ -90.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28900.0,
978
+ -27780.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28900.0,
983
+ -27780.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ -90.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_left",
998
+ "action_id": 4,
999
+ "start_pos": [
1000
+ -28900.0,
1001
+ -27780.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ -90.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28900.0,
1011
+ -27780.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28900.0,
1016
+ -27780.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ -105.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_left",
1031
+ "action_id": 4,
1032
+ "start_pos": [
1033
+ -28900.0,
1034
+ -27780.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ -105.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -27780.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -27780.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ -120.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_left",
1064
+ "action_id": 4,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -27780.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ -120.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -27780.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -27780.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ -135.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_left",
1097
+ "action_id": 4,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -27780.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ -135.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -27780.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -27780.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ -150.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "turn_left",
1130
+ "action_id": 4,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -27780.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ -150.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -27780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -27780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ -165.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "turn_left",
1163
+ "action_id": 4,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -27780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ -165.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -27780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -27780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ 180.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "no_op",
1196
+ "action_id": 8,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -27780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ 180.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -27780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -27780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ 180.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "no_op",
1229
+ "action_id": 8,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -27780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ 180.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -27780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -27780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ 180.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "no_op",
1262
+ "action_id": 8,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -27780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ 180.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -27780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -27780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ 180.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "no_op",
1295
+ "action_id": 8,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -27780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ 180.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -27780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -27780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ 180.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "no_op",
1328
+ "action_id": 8,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -27780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ 180.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -27780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -27780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ 180.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "no_op",
1361
+ "action_id": 8,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -27780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ 180.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -27780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -27780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ 180.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "no_op",
1394
+ "action_id": 8,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -27780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ 180.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -27780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -27780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ 180.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "no_op",
1427
+ "action_id": 8,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -27780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ 180.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -27780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -27780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 180.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000499.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c043c7bd1538468e440aeeae9547c5d673cf66d12e350d42377017e5f515f132
3
+ size 31170946
loop_new/run_20260427_155728__traj_000499_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 499,
3
+ "episode_id": 0,
4
+ "state_id": 78,
5
+ "sample_index": 78,
6
+ "trajectory_index_at_point": 4,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -27780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 180.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "move_forward",
55
+ "move_forward",
56
+ "move_forward",
57
+ "turn_left",
58
+ "turn_left",
59
+ "turn_left",
60
+ "turn_left",
61
+ "turn_left",
62
+ "turn_left",
63
+ "turn_left",
64
+ "turn_left",
65
+ "move_forward",
66
+ "move_forward",
67
+ "move_forward",
68
+ "move_forward",
69
+ "turn_left",
70
+ "turn_left",
71
+ "turn_left",
72
+ "turn_left",
73
+ "turn_left",
74
+ "turn_left",
75
+ "turn_left",
76
+ "turn_left",
77
+ "move_forward",
78
+ "move_forward",
79
+ "move_forward",
80
+ "move_forward",
81
+ "turn_left",
82
+ "turn_left",
83
+ "turn_left",
84
+ "turn_left",
85
+ "turn_left",
86
+ "turn_left",
87
+ "turn_left",
88
+ "turn_left",
89
+ "no_op",
90
+ "no_op",
91
+ "no_op",
92
+ "no_op"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -27780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 180.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -29000.0,
153
+ -27780.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -29000.0,
158
+ -27780.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 180.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "move_forward",
173
+ "action_id": 0,
174
+ "start_pos": [
175
+ -29000.0,
176
+ -27780.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 180.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -29100.0,
186
+ -27780.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -29100.0,
191
+ -27780.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ 180.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "move_forward",
206
+ "action_id": 0,
207
+ "start_pos": [
208
+ -29100.0,
209
+ -27780.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ 180.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -29200.0,
219
+ -27780.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -29200.0,
224
+ -27780.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ 180.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "move_forward",
239
+ "action_id": 0,
240
+ "start_pos": [
241
+ -29200.0,
242
+ -27780.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ 180.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -29300.0,
252
+ -27780.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -29300.0,
257
+ -27780.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ 180.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_left",
272
+ "action_id": 4,
273
+ "start_pos": [
274
+ -29300.0,
275
+ -27780.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ 180.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -29300.0,
285
+ -27780.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -29300.0,
290
+ -27780.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ 165.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "turn_left",
305
+ "action_id": 4,
306
+ "start_pos": [
307
+ -29300.0,
308
+ -27780.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ 165.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -29300.0,
318
+ -27780.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -29300.0,
323
+ -27780.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ 150.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_left",
338
+ "action_id": 4,
339
+ "start_pos": [
340
+ -29300.0,
341
+ -27780.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ 150.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -29300.0,
351
+ -27780.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -29300.0,
356
+ -27780.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ 135.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_left",
371
+ "action_id": 4,
372
+ "start_pos": [
373
+ -29300.0,
374
+ -27780.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ 135.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -29300.0,
384
+ -27780.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -29300.0,
389
+ -27780.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ 120.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_left",
404
+ "action_id": 4,
405
+ "start_pos": [
406
+ -29300.0,
407
+ -27780.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ 120.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -29300.0,
417
+ -27780.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -29300.0,
422
+ -27780.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ 105.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_left",
437
+ "action_id": 4,
438
+ "start_pos": [
439
+ -29300.0,
440
+ -27780.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ 105.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -29300.0,
450
+ -27780.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -29300.0,
455
+ -27780.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ 90.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "turn_left",
470
+ "action_id": 4,
471
+ "start_pos": [
472
+ -29300.0,
473
+ -27780.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ 90.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -29300.0,
483
+ -27780.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -29300.0,
488
+ -27780.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ 75.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "turn_left",
503
+ "action_id": 4,
504
+ "start_pos": [
505
+ -29300.0,
506
+ -27780.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ 75.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -29300.0,
516
+ -27780.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -29300.0,
521
+ -27780.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ 60.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "move_forward",
536
+ "action_id": 0,
537
+ "start_pos": [
538
+ -29300.0,
539
+ -27780.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ 60.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -29250.0,
549
+ -27693.3974,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -29250.0,
554
+ -27693.3974,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ 60.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "move_forward",
569
+ "action_id": 0,
570
+ "start_pos": [
571
+ -29250.0,
572
+ -27693.3974,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ 60.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -29200.0,
582
+ -27606.7949,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -29200.0,
587
+ -27606.7949,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ 60.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "move_forward",
602
+ "action_id": 0,
603
+ "start_pos": [
604
+ -29200.0,
605
+ -27606.7949,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ 60.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -29150.0,
615
+ -27520.1924,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -29150.0,
620
+ -27520.1924,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ 60.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "move_forward",
635
+ "action_id": 0,
636
+ "start_pos": [
637
+ -29150.0,
638
+ -27520.1924,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ 60.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -29100.0,
648
+ -27433.5898,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -29100.0,
653
+ -27433.5898,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ 60.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "turn_left",
668
+ "action_id": 4,
669
+ "start_pos": [
670
+ -29100.0,
671
+ -27433.5898,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ 60.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -29100.0,
681
+ -27433.5898,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -29100.0,
686
+ -27433.5898,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ 45.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "turn_left",
701
+ "action_id": 4,
702
+ "start_pos": [
703
+ -29100.0,
704
+ -27433.5898,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ 45.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -29100.0,
714
+ -27433.5898,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -29100.0,
719
+ -27433.5898,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ 30.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_left",
734
+ "action_id": 4,
735
+ "start_pos": [
736
+ -29100.0,
737
+ -27433.5898,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ 30.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -29100.0,
747
+ -27433.5898,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -29100.0,
752
+ -27433.5898,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ 15.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_left",
767
+ "action_id": 4,
768
+ "start_pos": [
769
+ -29100.0,
770
+ -27433.5898,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ 15.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -29100.0,
780
+ -27433.5898,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -29100.0,
785
+ -27433.5898,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ -0.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "turn_left",
800
+ "action_id": 4,
801
+ "start_pos": [
802
+ -29100.0,
803
+ -27433.5898,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ -0.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -29100.0,
813
+ -27433.5898,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -29100.0,
818
+ -27433.5898,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ -15.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "turn_left",
833
+ "action_id": 4,
834
+ "start_pos": [
835
+ -29100.0,
836
+ -27433.5898,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ -15.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -29100.0,
846
+ -27433.5898,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -29100.0,
851
+ -27433.5898,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ -30.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "turn_left",
866
+ "action_id": 4,
867
+ "start_pos": [
868
+ -29100.0,
869
+ -27433.5898,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ -30.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -29100.0,
879
+ -27433.5898,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -29100.0,
884
+ -27433.5898,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ -45.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "turn_left",
899
+ "action_id": 4,
900
+ "start_pos": [
901
+ -29100.0,
902
+ -27433.5898,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ -45.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -29100.0,
912
+ -27433.5898,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -29100.0,
917
+ -27433.5898,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ -60.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "move_forward",
932
+ "action_id": 0,
933
+ "start_pos": [
934
+ -29100.0,
935
+ -27433.5898,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ -60.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -29050.0,
945
+ -27520.1924,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -29050.0,
950
+ -27520.1924,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ -60.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "move_forward",
965
+ "action_id": 0,
966
+ "start_pos": [
967
+ -29050.0,
968
+ -27520.1924,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ -60.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -29000.0,
978
+ -27606.7949,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -29000.0,
983
+ -27606.7949,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ -60.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "move_forward",
998
+ "action_id": 0,
999
+ "start_pos": [
1000
+ -29000.0,
1001
+ -27606.7949,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ -60.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28950.0,
1011
+ -27693.3974,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28950.0,
1016
+ -27693.3974,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ -60.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "move_forward",
1031
+ "action_id": 0,
1032
+ "start_pos": [
1033
+ -28950.0,
1034
+ -27693.3974,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ -60.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -27780.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -27780.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ -60.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_left",
1064
+ "action_id": 4,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -27780.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ -60.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -27780.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -27780.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ -75.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_left",
1097
+ "action_id": 4,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -27780.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ -75.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -27780.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -27780.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ -90.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "turn_left",
1130
+ "action_id": 4,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -27780.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ -90.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -27780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -27780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ -105.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "turn_left",
1163
+ "action_id": 4,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -27780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ -105.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -27780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -27780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ -120.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "turn_left",
1196
+ "action_id": 4,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -27780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ -120.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -27780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -27780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ -135.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "turn_left",
1229
+ "action_id": 4,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -27780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ -135.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -27780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -27780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ -150.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "turn_left",
1262
+ "action_id": 4,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -27780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ -150.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -27780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -27780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ -165.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "turn_left",
1295
+ "action_id": 4,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -27780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ -165.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -27780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -27780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ 180.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "no_op",
1328
+ "action_id": 8,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -27780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ 180.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -27780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -27780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ 180.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "no_op",
1361
+ "action_id": 8,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -27780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ 180.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -27780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -27780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ 180.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "no_op",
1394
+ "action_id": 8,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -27780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ 180.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -27780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -27780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ 180.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "no_op",
1427
+ "action_id": 8,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -27780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ 180.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -27780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -27780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 180.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000500.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b79dde69ab00e47c5288086539631c063d667e3cd9e06287939eebec3c20e65
3
+ size 30738865
loop_new/run_20260427_155728__traj_000500_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 500,
3
+ "episode_id": 0,
4
+ "state_id": 79,
5
+ "sample_index": 79,
6
+ "trajectory_index_at_point": 0,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -27780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 270.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "turn_left",
55
+ "turn_left",
56
+ "turn_left",
57
+ "turn_left",
58
+ "move_forward",
59
+ "turn_left",
60
+ "turn_left",
61
+ "turn_left",
62
+ "turn_left",
63
+ "move_forward",
64
+ "turn_left",
65
+ "turn_left",
66
+ "turn_left",
67
+ "turn_left",
68
+ "move_forward",
69
+ "turn_left",
70
+ "turn_left",
71
+ "turn_left",
72
+ "turn_left",
73
+ "move_forward",
74
+ "turn_left",
75
+ "turn_left",
76
+ "turn_left",
77
+ "turn_left",
78
+ "move_forward",
79
+ "turn_left",
80
+ "turn_left",
81
+ "turn_left",
82
+ "turn_left",
83
+ "no_op",
84
+ "no_op",
85
+ "no_op",
86
+ "no_op",
87
+ "no_op",
88
+ "no_op",
89
+ "no_op",
90
+ "no_op",
91
+ "no_op",
92
+ "no_op"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -27780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ -90.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -28900.0,
153
+ -27880.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -28900.0,
158
+ -27880.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ -90.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "turn_left",
173
+ "action_id": 4,
174
+ "start_pos": [
175
+ -28900.0,
176
+ -27880.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ -90.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -28900.0,
186
+ -27880.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -28900.0,
191
+ -27880.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ -105.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "turn_left",
206
+ "action_id": 4,
207
+ "start_pos": [
208
+ -28900.0,
209
+ -27880.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ -105.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -28900.0,
219
+ -27880.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -28900.0,
224
+ -27880.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ -120.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "turn_left",
239
+ "action_id": 4,
240
+ "start_pos": [
241
+ -28900.0,
242
+ -27880.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ -120.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -28900.0,
252
+ -27880.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -28900.0,
257
+ -27880.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ -135.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_left",
272
+ "action_id": 4,
273
+ "start_pos": [
274
+ -28900.0,
275
+ -27880.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ -135.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -28900.0,
285
+ -27880.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -28900.0,
290
+ -27880.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ -150.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "move_forward",
305
+ "action_id": 0,
306
+ "start_pos": [
307
+ -28900.0,
308
+ -27880.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ -150.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -28986.6025,
318
+ -27930.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -28986.6025,
323
+ -27930.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ -150.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_left",
338
+ "action_id": 4,
339
+ "start_pos": [
340
+ -28986.6025,
341
+ -27930.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ -150.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -28986.6025,
351
+ -27930.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -28986.6025,
356
+ -27930.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ -165.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_left",
371
+ "action_id": 4,
372
+ "start_pos": [
373
+ -28986.6025,
374
+ -27930.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ -165.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -28986.6025,
384
+ -27930.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -28986.6025,
389
+ -27930.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ 180.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_left",
404
+ "action_id": 4,
405
+ "start_pos": [
406
+ -28986.6025,
407
+ -27930.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ 180.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -28986.6025,
417
+ -27930.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -28986.6025,
422
+ -27930.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ 165.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_left",
437
+ "action_id": 4,
438
+ "start_pos": [
439
+ -28986.6025,
440
+ -27930.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ 165.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -28986.6025,
450
+ -27930.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -28986.6025,
455
+ -27930.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ 150.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "move_forward",
470
+ "action_id": 0,
471
+ "start_pos": [
472
+ -28986.6025,
473
+ -27930.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ 150.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -29073.2051,
483
+ -27880.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -29073.2051,
488
+ -27880.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ 150.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "turn_left",
503
+ "action_id": 4,
504
+ "start_pos": [
505
+ -29073.2051,
506
+ -27880.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ 150.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -29073.2051,
516
+ -27880.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -29073.2051,
521
+ -27880.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ 135.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "turn_left",
536
+ "action_id": 4,
537
+ "start_pos": [
538
+ -29073.2051,
539
+ -27880.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ 135.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -29073.2051,
549
+ -27880.0,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -29073.2051,
554
+ -27880.0,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ 120.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "turn_left",
569
+ "action_id": 4,
570
+ "start_pos": [
571
+ -29073.2051,
572
+ -27880.0,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ 120.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -29073.2051,
582
+ -27880.0,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -29073.2051,
587
+ -27880.0,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ 105.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_left",
602
+ "action_id": 4,
603
+ "start_pos": [
604
+ -29073.2051,
605
+ -27880.0,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ 105.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -29073.2051,
615
+ -27880.0,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -29073.2051,
620
+ -27880.0,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ 90.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "move_forward",
635
+ "action_id": 0,
636
+ "start_pos": [
637
+ -29073.2051,
638
+ -27880.0,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ 90.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -29073.2051,
648
+ -27780.0,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -29073.2051,
653
+ -27780.0,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ 90.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "turn_left",
668
+ "action_id": 4,
669
+ "start_pos": [
670
+ -29073.2051,
671
+ -27780.0,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ 90.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -29073.2051,
681
+ -27780.0,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -29073.2051,
686
+ -27780.0,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ 75.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "turn_left",
701
+ "action_id": 4,
702
+ "start_pos": [
703
+ -29073.2051,
704
+ -27780.0,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ 75.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -29073.2051,
714
+ -27780.0,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -29073.2051,
719
+ -27780.0,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ 60.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_left",
734
+ "action_id": 4,
735
+ "start_pos": [
736
+ -29073.2051,
737
+ -27780.0,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ 60.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -29073.2051,
747
+ -27780.0,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -29073.2051,
752
+ -27780.0,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ 45.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_left",
767
+ "action_id": 4,
768
+ "start_pos": [
769
+ -29073.2051,
770
+ -27780.0,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ 45.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -29073.2051,
780
+ -27780.0,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -29073.2051,
785
+ -27780.0,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ 30.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "move_forward",
800
+ "action_id": 0,
801
+ "start_pos": [
802
+ -29073.2051,
803
+ -27780.0,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ 30.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -28986.6025,
813
+ -27730.0,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -28986.6025,
818
+ -27730.0,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ 30.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "turn_left",
833
+ "action_id": 4,
834
+ "start_pos": [
835
+ -28986.6025,
836
+ -27730.0,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ 30.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -28986.6025,
846
+ -27730.0,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -28986.6025,
851
+ -27730.0,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ 15.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "turn_left",
866
+ "action_id": 4,
867
+ "start_pos": [
868
+ -28986.6025,
869
+ -27730.0,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ 15.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -28986.6025,
879
+ -27730.0,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -28986.6025,
884
+ -27730.0,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ 0.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "turn_left",
899
+ "action_id": 4,
900
+ "start_pos": [
901
+ -28986.6025,
902
+ -27730.0,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ 0.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28986.6025,
912
+ -27730.0,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28986.6025,
917
+ -27730.0,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ -15.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "turn_left",
932
+ "action_id": 4,
933
+ "start_pos": [
934
+ -28986.6025,
935
+ -27730.0,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ -15.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28986.6025,
945
+ -27730.0,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28986.6025,
950
+ -27730.0,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ -30.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "move_forward",
965
+ "action_id": 0,
966
+ "start_pos": [
967
+ -28986.6025,
968
+ -27730.0,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ -30.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28900.0,
978
+ -27780.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28900.0,
983
+ -27780.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ -30.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_left",
998
+ "action_id": 4,
999
+ "start_pos": [
1000
+ -28900.0,
1001
+ -27780.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ -30.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28900.0,
1011
+ -27780.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28900.0,
1016
+ -27780.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ -45.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_left",
1031
+ "action_id": 4,
1032
+ "start_pos": [
1033
+ -28900.0,
1034
+ -27780.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ -45.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -27780.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -27780.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ -60.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_left",
1064
+ "action_id": 4,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -27780.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ -60.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -27780.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -27780.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ -75.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_left",
1097
+ "action_id": 4,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -27780.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ -75.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -27780.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -27780.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ -90.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "no_op",
1130
+ "action_id": 8,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -27780.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ -90.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -27780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -27780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ -90.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "no_op",
1163
+ "action_id": 8,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -27780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ -90.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -27780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -27780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ -90.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "no_op",
1196
+ "action_id": 8,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -27780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ -90.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -27780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -27780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ -90.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "no_op",
1229
+ "action_id": 8,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -27780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ -90.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -27780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -27780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ -90.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "no_op",
1262
+ "action_id": 8,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -27780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ -90.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -27780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -27780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ -90.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "no_op",
1295
+ "action_id": 8,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -27780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ -90.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -27780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -27780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ -90.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "no_op",
1328
+ "action_id": 8,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -27780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ -90.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -27780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -27780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ -90.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "no_op",
1361
+ "action_id": 8,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -27780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ -90.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -27780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -27780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ -90.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "no_op",
1394
+ "action_id": 8,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -27780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ -90.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -27780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -27780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ -90.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "no_op",
1427
+ "action_id": 8,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -27780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ -90.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -27780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -27780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ -90.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000507.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9997b5c7dc6dcb02f7e233e47e156e2066fd3b5c17cf8ae5b74fb80173900567
3
+ size 27796844
loop_new/run_20260427_155728__traj_000507_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 507,
3
+ "episode_id": 0,
4
+ "state_id": 79,
5
+ "sample_index": 79,
6
+ "trajectory_index_at_point": 4,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -27780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 270.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "move_forward",
55
+ "move_forward",
56
+ "move_forward",
57
+ "move_forward",
58
+ "turn_right",
59
+ "turn_right",
60
+ "turn_right",
61
+ "turn_right",
62
+ "turn_right",
63
+ "turn_right",
64
+ "turn_right",
65
+ "turn_right",
66
+ "move_forward",
67
+ "move_forward",
68
+ "move_forward",
69
+ "move_forward",
70
+ "move_forward",
71
+ "turn_right",
72
+ "turn_right",
73
+ "turn_right",
74
+ "turn_right",
75
+ "turn_right",
76
+ "turn_right",
77
+ "turn_right",
78
+ "turn_right",
79
+ "move_forward",
80
+ "move_forward",
81
+ "move_forward",
82
+ "move_forward",
83
+ "move_forward",
84
+ "turn_right",
85
+ "turn_right",
86
+ "turn_right",
87
+ "turn_right",
88
+ "turn_right",
89
+ "turn_right",
90
+ "turn_right",
91
+ "turn_right",
92
+ "no_op"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -27780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ -90.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -28900.0,
153
+ -27880.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -28900.0,
158
+ -27880.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ -90.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "move_forward",
173
+ "action_id": 0,
174
+ "start_pos": [
175
+ -28900.0,
176
+ -27880.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ -90.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -28900.0,
186
+ -27980.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -28900.0,
191
+ -27980.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ -90.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "move_forward",
206
+ "action_id": 0,
207
+ "start_pos": [
208
+ -28900.0,
209
+ -27980.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ -90.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -28900.0,
219
+ -28080.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -28900.0,
224
+ -28080.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ -90.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "move_forward",
239
+ "action_id": 0,
240
+ "start_pos": [
241
+ -28900.0,
242
+ -28080.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ -90.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -28900.0,
252
+ -28180.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -28900.0,
257
+ -28180.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ -90.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "move_forward",
272
+ "action_id": 0,
273
+ "start_pos": [
274
+ -28900.0,
275
+ -28180.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ -90.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -28900.0,
285
+ -28280.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -28900.0,
290
+ -28280.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ -90.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "turn_right",
305
+ "action_id": 5,
306
+ "start_pos": [
307
+ -28900.0,
308
+ -28280.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ -90.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -28900.0,
318
+ -28280.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -28900.0,
323
+ -28280.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ -75.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_right",
338
+ "action_id": 5,
339
+ "start_pos": [
340
+ -28900.0,
341
+ -28280.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ -75.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -28900.0,
351
+ -28280.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -28900.0,
356
+ -28280.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ -60.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_right",
371
+ "action_id": 5,
372
+ "start_pos": [
373
+ -28900.0,
374
+ -28280.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ -60.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -28900.0,
384
+ -28280.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -28900.0,
389
+ -28280.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ -45.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_right",
404
+ "action_id": 5,
405
+ "start_pos": [
406
+ -28900.0,
407
+ -28280.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ -45.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -28900.0,
417
+ -28280.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -28900.0,
422
+ -28280.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ -30.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_right",
437
+ "action_id": 5,
438
+ "start_pos": [
439
+ -28900.0,
440
+ -28280.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ -30.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -28900.0,
450
+ -28280.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -28900.0,
455
+ -28280.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ -15.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "turn_right",
470
+ "action_id": 5,
471
+ "start_pos": [
472
+ -28900.0,
473
+ -28280.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ -15.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -28900.0,
483
+ -28280.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -28900.0,
488
+ -28280.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ 0.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "turn_right",
503
+ "action_id": 5,
504
+ "start_pos": [
505
+ -28900.0,
506
+ -28280.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ 0.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -28900.0,
516
+ -28280.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -28900.0,
521
+ -28280.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ 15.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "turn_right",
536
+ "action_id": 5,
537
+ "start_pos": [
538
+ -28900.0,
539
+ -28280.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ 15.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -28900.0,
549
+ -28280.0,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -28900.0,
554
+ -28280.0,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ 30.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "move_forward",
569
+ "action_id": 0,
570
+ "start_pos": [
571
+ -28900.0,
572
+ -28280.0,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ 30.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -28813.3975,
582
+ -28230.0,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -28813.3975,
587
+ -28230.0,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ 30.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "move_forward",
602
+ "action_id": 0,
603
+ "start_pos": [
604
+ -28813.3975,
605
+ -28230.0,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ 30.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -28726.7949,
615
+ -28180.0,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -28726.7949,
620
+ -28180.0,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ 30.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "move_forward",
635
+ "action_id": 0,
636
+ "start_pos": [
637
+ -28726.7949,
638
+ -28180.0,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ 30.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -28640.1924,
648
+ -28130.0,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -28640.1924,
653
+ -28130.0,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ 30.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "move_forward",
668
+ "action_id": 0,
669
+ "start_pos": [
670
+ -28640.1924,
671
+ -28130.0,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ 30.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -28553.5898,
681
+ -28080.0,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -28553.5898,
686
+ -28080.0,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ 30.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "move_forward",
701
+ "action_id": 0,
702
+ "start_pos": [
703
+ -28553.5898,
704
+ -28080.0,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ 30.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -28466.9873,
714
+ -28030.0,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -28466.9873,
719
+ -28030.0,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ 30.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_right",
734
+ "action_id": 5,
735
+ "start_pos": [
736
+ -28466.9873,
737
+ -28030.0,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ 30.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -28466.9873,
747
+ -28030.0,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -28466.9873,
752
+ -28030.0,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ 45.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_right",
767
+ "action_id": 5,
768
+ "start_pos": [
769
+ -28466.9873,
770
+ -28030.0,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ 45.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -28466.9873,
780
+ -28030.0,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -28466.9873,
785
+ -28030.0,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ 60.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "turn_right",
800
+ "action_id": 5,
801
+ "start_pos": [
802
+ -28466.9873,
803
+ -28030.0,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ 60.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -28466.9873,
813
+ -28030.0,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -28466.9873,
818
+ -28030.0,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ 75.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "turn_right",
833
+ "action_id": 5,
834
+ "start_pos": [
835
+ -28466.9873,
836
+ -28030.0,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ 75.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -28466.9873,
846
+ -28030.0,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -28466.9873,
851
+ -28030.0,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ 90.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "turn_right",
866
+ "action_id": 5,
867
+ "start_pos": [
868
+ -28466.9873,
869
+ -28030.0,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ 90.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -28466.9873,
879
+ -28030.0,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -28466.9873,
884
+ -28030.0,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ 105.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "turn_right",
899
+ "action_id": 5,
900
+ "start_pos": [
901
+ -28466.9873,
902
+ -28030.0,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ 105.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28466.9873,
912
+ -28030.0,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28466.9873,
917
+ -28030.0,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ 120.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "turn_right",
932
+ "action_id": 5,
933
+ "start_pos": [
934
+ -28466.9873,
935
+ -28030.0,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ 120.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28466.9873,
945
+ -28030.0,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28466.9873,
950
+ -28030.0,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ 135.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "turn_right",
965
+ "action_id": 5,
966
+ "start_pos": [
967
+ -28466.9873,
968
+ -28030.0,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ 135.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28466.9873,
978
+ -28030.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28466.9873,
983
+ -28030.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ 150.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "move_forward",
998
+ "action_id": 0,
999
+ "start_pos": [
1000
+ -28466.9873,
1001
+ -28030.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ 150.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28553.5898,
1011
+ -27980.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28553.5898,
1016
+ -27980.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ 150.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "move_forward",
1031
+ "action_id": 0,
1032
+ "start_pos": [
1033
+ -28553.5898,
1034
+ -27980.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ 150.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28640.1924,
1044
+ -27930.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28640.1924,
1049
+ -27930.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ 150.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "move_forward",
1064
+ "action_id": 0,
1065
+ "start_pos": [
1066
+ -28640.1924,
1067
+ -27930.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ 150.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28726.7949,
1077
+ -27880.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28726.7949,
1082
+ -27880.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ 150.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "move_forward",
1097
+ "action_id": 0,
1098
+ "start_pos": [
1099
+ -28726.7949,
1100
+ -27880.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ 150.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28813.3974,
1110
+ -27830.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28813.3974,
1115
+ -27830.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ 150.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "move_forward",
1130
+ "action_id": 0,
1131
+ "start_pos": [
1132
+ -28813.3974,
1133
+ -27830.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ 150.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -27780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -27780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ 150.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "turn_right",
1163
+ "action_id": 5,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -27780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ 150.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -27780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -27780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ 165.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "turn_right",
1196
+ "action_id": 5,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -27780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ 165.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -27780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -27780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ -180.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "turn_right",
1229
+ "action_id": 5,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -27780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ -180.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -27780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -27780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ -165.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "turn_right",
1262
+ "action_id": 5,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -27780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ -165.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -27780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -27780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ -150.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "turn_right",
1295
+ "action_id": 5,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -27780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ -150.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -27780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -27780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ -135.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "turn_right",
1328
+ "action_id": 5,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -27780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ -135.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -27780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -27780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ -120.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "turn_right",
1361
+ "action_id": 5,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -27780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ -120.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -27780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -27780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ -105.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "turn_right",
1394
+ "action_id": 5,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -27780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ -105.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -27780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -27780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ -90.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "no_op",
1427
+ "action_id": 8,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -27780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ -90.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -27780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -27780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ -90.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000510.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab41374eddbb745069076d424367a34f3ad8838bca2d5723a0e3a0e571812426
3
+ size 25181572
loop_new/run_20260427_155728__traj_000510_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 510,
3
+ "episode_id": 0,
4
+ "state_id": 80,
5
+ "sample_index": 80,
6
+ "trajectory_index_at_point": 1,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -26780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 0.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "move_forward",
55
+ "move_forward",
56
+ "move_forward",
57
+ "turn_right",
58
+ "turn_right",
59
+ "turn_right",
60
+ "turn_right",
61
+ "turn_right",
62
+ "turn_right",
63
+ "move_forward",
64
+ "move_forward",
65
+ "move_forward",
66
+ "move_forward",
67
+ "turn_right",
68
+ "turn_right",
69
+ "turn_right",
70
+ "turn_right",
71
+ "turn_right",
72
+ "turn_right",
73
+ "move_forward",
74
+ "move_forward",
75
+ "move_forward",
76
+ "move_forward",
77
+ "turn_right",
78
+ "turn_right",
79
+ "turn_right",
80
+ "turn_right",
81
+ "turn_right",
82
+ "turn_right",
83
+ "move_forward",
84
+ "move_forward",
85
+ "move_forward",
86
+ "move_forward",
87
+ "turn_right",
88
+ "turn_right",
89
+ "turn_right",
90
+ "turn_right",
91
+ "turn_right",
92
+ "turn_right"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -26780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 0.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -28800.0,
153
+ -26780.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -28800.0,
158
+ -26780.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 0.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "move_forward",
173
+ "action_id": 0,
174
+ "start_pos": [
175
+ -28800.0,
176
+ -26780.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 0.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -28700.0,
186
+ -26780.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -28700.0,
191
+ -26780.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ 0.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "move_forward",
206
+ "action_id": 0,
207
+ "start_pos": [
208
+ -28700.0,
209
+ -26780.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ 0.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -28600.0,
219
+ -26780.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -28600.0,
224
+ -26780.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "move_forward",
239
+ "action_id": 0,
240
+ "start_pos": [
241
+ -28600.0,
242
+ -26780.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ 0.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -28500.0,
252
+ -26780.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -28500.0,
257
+ -26780.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ 0.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_right",
272
+ "action_id": 5,
273
+ "start_pos": [
274
+ -28500.0,
275
+ -26780.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -28500.0,
285
+ -26780.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -28500.0,
290
+ -26780.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ 15.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "turn_right",
305
+ "action_id": 5,
306
+ "start_pos": [
307
+ -28500.0,
308
+ -26780.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ 15.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -28500.0,
318
+ -26780.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -28500.0,
323
+ -26780.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ 30.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_right",
338
+ "action_id": 5,
339
+ "start_pos": [
340
+ -28500.0,
341
+ -26780.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ 30.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -28500.0,
351
+ -26780.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -28500.0,
356
+ -26780.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ 45.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_right",
371
+ "action_id": 5,
372
+ "start_pos": [
373
+ -28500.0,
374
+ -26780.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ 45.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -28500.0,
384
+ -26780.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -28500.0,
389
+ -26780.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ 60.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_right",
404
+ "action_id": 5,
405
+ "start_pos": [
406
+ -28500.0,
407
+ -26780.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ 60.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -28500.0,
417
+ -26780.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -28500.0,
422
+ -26780.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ 75.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_right",
437
+ "action_id": 5,
438
+ "start_pos": [
439
+ -28500.0,
440
+ -26780.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ 75.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -28500.0,
450
+ -26780.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -28500.0,
455
+ -26780.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ 90.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "move_forward",
470
+ "action_id": 0,
471
+ "start_pos": [
472
+ -28500.0,
473
+ -26780.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ 90.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -28500.0,
483
+ -26680.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -28500.0,
488
+ -26680.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ 90.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "move_forward",
503
+ "action_id": 0,
504
+ "start_pos": [
505
+ -28500.0,
506
+ -26680.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ 90.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -28500.0,
516
+ -26580.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -28500.0,
521
+ -26580.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ 90.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "move_forward",
536
+ "action_id": 0,
537
+ "start_pos": [
538
+ -28500.0,
539
+ -26580.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ 90.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -28500.0,
549
+ -26480.0,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -28500.0,
554
+ -26480.0,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ 90.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "move_forward",
569
+ "action_id": 0,
570
+ "start_pos": [
571
+ -28500.0,
572
+ -26480.0,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ 90.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -28500.0,
582
+ -26380.0,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -28500.0,
587
+ -26380.0,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ 90.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_right",
602
+ "action_id": 5,
603
+ "start_pos": [
604
+ -28500.0,
605
+ -26380.0,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ 90.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -28500.0,
615
+ -26380.0,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -28500.0,
620
+ -26380.0,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ 105.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "turn_right",
635
+ "action_id": 5,
636
+ "start_pos": [
637
+ -28500.0,
638
+ -26380.0,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ 105.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -28500.0,
648
+ -26380.0,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -28500.0,
653
+ -26380.0,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ 120.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "turn_right",
668
+ "action_id": 5,
669
+ "start_pos": [
670
+ -28500.0,
671
+ -26380.0,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ 120.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -28500.0,
681
+ -26380.0,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -28500.0,
686
+ -26380.0,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ 135.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "turn_right",
701
+ "action_id": 5,
702
+ "start_pos": [
703
+ -28500.0,
704
+ -26380.0,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ 135.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -28500.0,
714
+ -26380.0,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -28500.0,
719
+ -26380.0,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ 150.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_right",
734
+ "action_id": 5,
735
+ "start_pos": [
736
+ -28500.0,
737
+ -26380.0,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ 150.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -28500.0,
747
+ -26380.0,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -28500.0,
752
+ -26380.0,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ 165.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_right",
767
+ "action_id": 5,
768
+ "start_pos": [
769
+ -28500.0,
770
+ -26380.0,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ 165.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -28500.0,
780
+ -26380.0,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -28500.0,
785
+ -26380.0,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ -180.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "move_forward",
800
+ "action_id": 0,
801
+ "start_pos": [
802
+ -28500.0,
803
+ -26380.0,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ -180.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -28600.0,
813
+ -26380.0,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -28600.0,
818
+ -26380.0,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ -180.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "move_forward",
833
+ "action_id": 0,
834
+ "start_pos": [
835
+ -28600.0,
836
+ -26380.0,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ -180.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -28700.0,
846
+ -26380.0,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -28700.0,
851
+ -26380.0,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ -180.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "move_forward",
866
+ "action_id": 0,
867
+ "start_pos": [
868
+ -28700.0,
869
+ -26380.0,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ -180.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -28800.0,
879
+ -26380.0,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -28800.0,
884
+ -26380.0,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ -180.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "move_forward",
899
+ "action_id": 0,
900
+ "start_pos": [
901
+ -28800.0,
902
+ -26380.0,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ -180.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28900.0,
912
+ -26380.0,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28900.0,
917
+ -26380.0,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ -180.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "turn_right",
932
+ "action_id": 5,
933
+ "start_pos": [
934
+ -28900.0,
935
+ -26380.0,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ -180.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28900.0,
945
+ -26380.0,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28900.0,
950
+ -26380.0,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ -165.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "turn_right",
965
+ "action_id": 5,
966
+ "start_pos": [
967
+ -28900.0,
968
+ -26380.0,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ -165.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28900.0,
978
+ -26380.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28900.0,
983
+ -26380.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ -150.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_right",
998
+ "action_id": 5,
999
+ "start_pos": [
1000
+ -28900.0,
1001
+ -26380.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ -150.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28900.0,
1011
+ -26380.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28900.0,
1016
+ -26380.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ -135.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_right",
1031
+ "action_id": 5,
1032
+ "start_pos": [
1033
+ -28900.0,
1034
+ -26380.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ -135.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -26380.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -26380.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ -120.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_right",
1064
+ "action_id": 5,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -26380.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ -120.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -26380.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -26380.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ -105.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_right",
1097
+ "action_id": 5,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -26380.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ -105.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -26380.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -26380.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ -90.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "move_forward",
1130
+ "action_id": 0,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -26380.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ -90.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -26480.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -26480.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ -90.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "move_forward",
1163
+ "action_id": 0,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -26480.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ -90.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -26580.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -26580.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ -90.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "move_forward",
1196
+ "action_id": 0,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -26580.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ -90.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -26680.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -26680.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ -90.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "move_forward",
1229
+ "action_id": 0,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -26680.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ -90.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -26780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -26780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ -90.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "turn_right",
1262
+ "action_id": 5,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -26780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ -90.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -26780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -26780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ -75.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "turn_right",
1295
+ "action_id": 5,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -26780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ -75.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -26780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -26780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ -60.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "turn_right",
1328
+ "action_id": 5,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -26780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ -60.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -26780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -26780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ -45.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "turn_right",
1361
+ "action_id": 5,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -26780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ -45.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -26780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -26780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ -30.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "turn_right",
1394
+ "action_id": 5,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -26780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ -30.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -26780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -26780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ -15.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "turn_right",
1427
+ "action_id": 5,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -26780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ -15.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -26780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -26780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 0.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000513.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31e174fdd8af79bcfaa1482004c2f29b9b2514cd480fd12a28ca914f0eaf89d0
3
+ size 31465940
loop_new/run_20260427_155728__traj_000513_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 513,
3
+ "episode_id": 0,
4
+ "state_id": 80,
5
+ "sample_index": 80,
6
+ "trajectory_index_at_point": 3,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -26780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 0.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "turn_right",
55
+ "turn_right",
56
+ "turn_right",
57
+ "turn_right",
58
+ "move_forward",
59
+ "turn_right",
60
+ "turn_right",
61
+ "turn_right",
62
+ "turn_right",
63
+ "move_forward",
64
+ "turn_right",
65
+ "turn_right",
66
+ "turn_right",
67
+ "turn_right",
68
+ "move_forward",
69
+ "turn_right",
70
+ "turn_right",
71
+ "turn_right",
72
+ "turn_right",
73
+ "move_forward",
74
+ "turn_right",
75
+ "turn_right",
76
+ "turn_right",
77
+ "turn_right",
78
+ "move_forward",
79
+ "turn_right",
80
+ "turn_right",
81
+ "turn_right",
82
+ "turn_right",
83
+ "no_op",
84
+ "no_op",
85
+ "no_op",
86
+ "no_op",
87
+ "no_op",
88
+ "no_op",
89
+ "no_op",
90
+ "no_op",
91
+ "no_op",
92
+ "no_op"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -26780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 0.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -28800.0,
153
+ -26780.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -28800.0,
158
+ -26780.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 0.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "turn_right",
173
+ "action_id": 5,
174
+ "start_pos": [
175
+ -28800.0,
176
+ -26780.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 0.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -28800.0,
186
+ -26780.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -28800.0,
191
+ -26780.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ 15.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "turn_right",
206
+ "action_id": 5,
207
+ "start_pos": [
208
+ -28800.0,
209
+ -26780.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ 15.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -28800.0,
219
+ -26780.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -28800.0,
224
+ -26780.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ 30.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "turn_right",
239
+ "action_id": 5,
240
+ "start_pos": [
241
+ -28800.0,
242
+ -26780.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ 30.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -28800.0,
252
+ -26780.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -28800.0,
257
+ -26780.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ 45.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_right",
272
+ "action_id": 5,
273
+ "start_pos": [
274
+ -28800.0,
275
+ -26780.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ 45.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -28800.0,
285
+ -26780.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -28800.0,
290
+ -26780.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ 60.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "move_forward",
305
+ "action_id": 0,
306
+ "start_pos": [
307
+ -28800.0,
308
+ -26780.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ 60.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -28750.0,
318
+ -26693.3975,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -28750.0,
323
+ -26693.3975,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ 60.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_right",
338
+ "action_id": 5,
339
+ "start_pos": [
340
+ -28750.0,
341
+ -26693.3975,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ 60.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -28750.0,
351
+ -26693.3975,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -28750.0,
356
+ -26693.3975,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ 75.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_right",
371
+ "action_id": 5,
372
+ "start_pos": [
373
+ -28750.0,
374
+ -26693.3975,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ 75.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -28750.0,
384
+ -26693.3975,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -28750.0,
389
+ -26693.3975,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ 90.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_right",
404
+ "action_id": 5,
405
+ "start_pos": [
406
+ -28750.0,
407
+ -26693.3975,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ 90.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -28750.0,
417
+ -26693.3975,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -28750.0,
422
+ -26693.3975,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ 105.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_right",
437
+ "action_id": 5,
438
+ "start_pos": [
439
+ -28750.0,
440
+ -26693.3975,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ 105.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -28750.0,
450
+ -26693.3975,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -28750.0,
455
+ -26693.3975,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ 120.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "move_forward",
470
+ "action_id": 0,
471
+ "start_pos": [
472
+ -28750.0,
473
+ -26693.3975,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ 120.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -28800.0,
483
+ -26606.7949,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -28800.0,
488
+ -26606.7949,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ 120.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "turn_right",
503
+ "action_id": 5,
504
+ "start_pos": [
505
+ -28800.0,
506
+ -26606.7949,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ 120.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -28800.0,
516
+ -26606.7949,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -28800.0,
521
+ -26606.7949,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ 135.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "turn_right",
536
+ "action_id": 5,
537
+ "start_pos": [
538
+ -28800.0,
539
+ -26606.7949,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ 135.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -28800.0,
549
+ -26606.7949,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -28800.0,
554
+ -26606.7949,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ 150.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "turn_right",
569
+ "action_id": 5,
570
+ "start_pos": [
571
+ -28800.0,
572
+ -26606.7949,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ 150.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -28800.0,
582
+ -26606.7949,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -28800.0,
587
+ -26606.7949,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ 165.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_right",
602
+ "action_id": 5,
603
+ "start_pos": [
604
+ -28800.0,
605
+ -26606.7949,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ 165.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -28800.0,
615
+ -26606.7949,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -28800.0,
620
+ -26606.7949,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ -180.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "move_forward",
635
+ "action_id": 0,
636
+ "start_pos": [
637
+ -28800.0,
638
+ -26606.7949,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ -180.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -28900.0,
648
+ -26606.7949,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -28900.0,
653
+ -26606.7949,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ -180.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "turn_right",
668
+ "action_id": 5,
669
+ "start_pos": [
670
+ -28900.0,
671
+ -26606.7949,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ -180.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -28900.0,
681
+ -26606.7949,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -28900.0,
686
+ -26606.7949,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ -165.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "turn_right",
701
+ "action_id": 5,
702
+ "start_pos": [
703
+ -28900.0,
704
+ -26606.7949,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ -165.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -28900.0,
714
+ -26606.7949,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -28900.0,
719
+ -26606.7949,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ -150.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_right",
734
+ "action_id": 5,
735
+ "start_pos": [
736
+ -28900.0,
737
+ -26606.7949,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ -150.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -28900.0,
747
+ -26606.7949,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -28900.0,
752
+ -26606.7949,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ -135.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_right",
767
+ "action_id": 5,
768
+ "start_pos": [
769
+ -28900.0,
770
+ -26606.7949,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ -135.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -28900.0,
780
+ -26606.7949,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -28900.0,
785
+ -26606.7949,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ -120.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "move_forward",
800
+ "action_id": 0,
801
+ "start_pos": [
802
+ -28900.0,
803
+ -26606.7949,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ -120.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -28950.0,
813
+ -26693.3975,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -28950.0,
818
+ -26693.3975,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ -120.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "turn_right",
833
+ "action_id": 5,
834
+ "start_pos": [
835
+ -28950.0,
836
+ -26693.3975,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ -120.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -28950.0,
846
+ -26693.3975,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -28950.0,
851
+ -26693.3975,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ -105.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "turn_right",
866
+ "action_id": 5,
867
+ "start_pos": [
868
+ -28950.0,
869
+ -26693.3975,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ -105.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -28950.0,
879
+ -26693.3975,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -28950.0,
884
+ -26693.3975,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ -90.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "turn_right",
899
+ "action_id": 5,
900
+ "start_pos": [
901
+ -28950.0,
902
+ -26693.3975,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ -90.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28950.0,
912
+ -26693.3975,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28950.0,
917
+ -26693.3975,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ -75.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "turn_right",
932
+ "action_id": 5,
933
+ "start_pos": [
934
+ -28950.0,
935
+ -26693.3975,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ -75.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28950.0,
945
+ -26693.3975,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28950.0,
950
+ -26693.3975,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ -60.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "move_forward",
965
+ "action_id": 0,
966
+ "start_pos": [
967
+ -28950.0,
968
+ -26693.3975,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ -60.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28900.0,
978
+ -26780.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28900.0,
983
+ -26780.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ -60.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_right",
998
+ "action_id": 5,
999
+ "start_pos": [
1000
+ -28900.0,
1001
+ -26780.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ -60.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28900.0,
1011
+ -26780.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28900.0,
1016
+ -26780.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ -45.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_right",
1031
+ "action_id": 5,
1032
+ "start_pos": [
1033
+ -28900.0,
1034
+ -26780.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ -45.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -26780.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -26780.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ -30.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_right",
1064
+ "action_id": 5,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -26780.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ -30.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -26780.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -26780.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ -15.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_right",
1097
+ "action_id": 5,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -26780.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ -15.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -26780.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -26780.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "no_op",
1130
+ "action_id": 8,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -26780.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ 0.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -26780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -26780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ 0.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "no_op",
1163
+ "action_id": 8,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -26780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ 0.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -26780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -26780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ 0.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "no_op",
1196
+ "action_id": 8,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -26780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ 0.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -26780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -26780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ 0.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "no_op",
1229
+ "action_id": 8,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -26780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ 0.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -26780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -26780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ 0.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "no_op",
1262
+ "action_id": 8,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -26780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ 0.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -26780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -26780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ 0.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "no_op",
1295
+ "action_id": 8,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -26780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ 0.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -26780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -26780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ 0.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "no_op",
1328
+ "action_id": 8,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -26780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ 0.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -26780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -26780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ 0.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "no_op",
1361
+ "action_id": 8,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -26780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ 0.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -26780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -26780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ 0.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "no_op",
1394
+ "action_id": 8,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -26780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ 0.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -26780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -26780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ 0.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "no_op",
1427
+ "action_id": 8,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -26780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -26780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -26780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 0.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000516.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5caac6f273282c239b78a2edc572c762920147b918cd4062e2f01315f871587e
3
+ size 31413984
loop_new/run_20260427_155728__traj_000516_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 516,
3
+ "episode_id": 0,
4
+ "state_id": 81,
5
+ "sample_index": 81,
6
+ "trajectory_index_at_point": 0,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -26780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 90.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "move_forward",
55
+ "turn_left",
56
+ "turn_left",
57
+ "turn_left",
58
+ "turn_left",
59
+ "turn_left",
60
+ "turn_left",
61
+ "move_forward",
62
+ "move_forward",
63
+ "turn_left",
64
+ "turn_left",
65
+ "turn_left",
66
+ "turn_left",
67
+ "turn_left",
68
+ "turn_left",
69
+ "move_forward",
70
+ "move_forward",
71
+ "turn_left",
72
+ "turn_left",
73
+ "turn_left",
74
+ "turn_left",
75
+ "turn_left",
76
+ "turn_left",
77
+ "move_forward",
78
+ "move_forward",
79
+ "turn_left",
80
+ "turn_left",
81
+ "turn_left",
82
+ "turn_left",
83
+ "turn_left",
84
+ "turn_left",
85
+ "no_op",
86
+ "no_op",
87
+ "no_op",
88
+ "no_op",
89
+ "no_op",
90
+ "no_op",
91
+ "no_op",
92
+ "no_op"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -26780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 90.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -28900.0,
153
+ -26680.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -28900.0,
158
+ -26680.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 90.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "move_forward",
173
+ "action_id": 0,
174
+ "start_pos": [
175
+ -28900.0,
176
+ -26680.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 90.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -28900.0,
186
+ -26580.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -28900.0,
191
+ -26580.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ 90.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "turn_left",
206
+ "action_id": 4,
207
+ "start_pos": [
208
+ -28900.0,
209
+ -26580.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ 90.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -28900.0,
219
+ -26580.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -28900.0,
224
+ -26580.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ 75.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "turn_left",
239
+ "action_id": 4,
240
+ "start_pos": [
241
+ -28900.0,
242
+ -26580.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ 75.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -28900.0,
252
+ -26580.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -28900.0,
257
+ -26580.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ 60.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_left",
272
+ "action_id": 4,
273
+ "start_pos": [
274
+ -28900.0,
275
+ -26580.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ 60.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -28900.0,
285
+ -26580.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -28900.0,
290
+ -26580.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ 45.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "turn_left",
305
+ "action_id": 4,
306
+ "start_pos": [
307
+ -28900.0,
308
+ -26580.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ 45.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -28900.0,
318
+ -26580.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -28900.0,
323
+ -26580.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ 30.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_left",
338
+ "action_id": 4,
339
+ "start_pos": [
340
+ -28900.0,
341
+ -26580.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ 30.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -28900.0,
351
+ -26580.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -28900.0,
356
+ -26580.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ 15.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_left",
371
+ "action_id": 4,
372
+ "start_pos": [
373
+ -28900.0,
374
+ -26580.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ 15.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -28900.0,
384
+ -26580.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -28900.0,
389
+ -26580.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ 0.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "move_forward",
404
+ "action_id": 0,
405
+ "start_pos": [
406
+ -28900.0,
407
+ -26580.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ 0.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -28800.0,
417
+ -26580.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -28800.0,
422
+ -26580.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ 0.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "move_forward",
437
+ "action_id": 0,
438
+ "start_pos": [
439
+ -28800.0,
440
+ -26580.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ 0.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -28700.0,
450
+ -26580.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -28700.0,
455
+ -26580.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ 0.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "turn_left",
470
+ "action_id": 4,
471
+ "start_pos": [
472
+ -28700.0,
473
+ -26580.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ 0.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -28700.0,
483
+ -26580.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -28700.0,
488
+ -26580.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ -15.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "turn_left",
503
+ "action_id": 4,
504
+ "start_pos": [
505
+ -28700.0,
506
+ -26580.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ -15.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -28700.0,
516
+ -26580.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -28700.0,
521
+ -26580.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ -30.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "turn_left",
536
+ "action_id": 4,
537
+ "start_pos": [
538
+ -28700.0,
539
+ -26580.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ -30.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -28700.0,
549
+ -26580.0,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -28700.0,
554
+ -26580.0,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ -45.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "turn_left",
569
+ "action_id": 4,
570
+ "start_pos": [
571
+ -28700.0,
572
+ -26580.0,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ -45.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -28700.0,
582
+ -26580.0,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -28700.0,
587
+ -26580.0,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ -60.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_left",
602
+ "action_id": 4,
603
+ "start_pos": [
604
+ -28700.0,
605
+ -26580.0,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ -60.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -28700.0,
615
+ -26580.0,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -28700.0,
620
+ -26580.0,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ -75.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "turn_left",
635
+ "action_id": 4,
636
+ "start_pos": [
637
+ -28700.0,
638
+ -26580.0,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ -75.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -28700.0,
648
+ -26580.0,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -28700.0,
653
+ -26580.0,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ -90.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "move_forward",
668
+ "action_id": 0,
669
+ "start_pos": [
670
+ -28700.0,
671
+ -26580.0,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ -90.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -28700.0,
681
+ -26680.0,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -28700.0,
686
+ -26680.0,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ -90.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "move_forward",
701
+ "action_id": 0,
702
+ "start_pos": [
703
+ -28700.0,
704
+ -26680.0,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ -90.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -28700.0,
714
+ -26780.0,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -28700.0,
719
+ -26780.0,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ -90.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_left",
734
+ "action_id": 4,
735
+ "start_pos": [
736
+ -28700.0,
737
+ -26780.0,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ -90.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -28700.0,
747
+ -26780.0,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -28700.0,
752
+ -26780.0,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ -105.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_left",
767
+ "action_id": 4,
768
+ "start_pos": [
769
+ -28700.0,
770
+ -26780.0,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ -105.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -28700.0,
780
+ -26780.0,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -28700.0,
785
+ -26780.0,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ -120.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "turn_left",
800
+ "action_id": 4,
801
+ "start_pos": [
802
+ -28700.0,
803
+ -26780.0,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ -120.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -28700.0,
813
+ -26780.0,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -28700.0,
818
+ -26780.0,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ -135.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "turn_left",
833
+ "action_id": 4,
834
+ "start_pos": [
835
+ -28700.0,
836
+ -26780.0,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ -135.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -28700.0,
846
+ -26780.0,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -28700.0,
851
+ -26780.0,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ -150.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "turn_left",
866
+ "action_id": 4,
867
+ "start_pos": [
868
+ -28700.0,
869
+ -26780.0,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ -150.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -28700.0,
879
+ -26780.0,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -28700.0,
884
+ -26780.0,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ -165.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "turn_left",
899
+ "action_id": 4,
900
+ "start_pos": [
901
+ -28700.0,
902
+ -26780.0,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ -165.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28700.0,
912
+ -26780.0,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28700.0,
917
+ -26780.0,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ 180.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "move_forward",
932
+ "action_id": 0,
933
+ "start_pos": [
934
+ -28700.0,
935
+ -26780.0,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ 180.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28800.0,
945
+ -26780.0,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28800.0,
950
+ -26780.0,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ 180.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "move_forward",
965
+ "action_id": 0,
966
+ "start_pos": [
967
+ -28800.0,
968
+ -26780.0,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ 180.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28900.0,
978
+ -26780.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28900.0,
983
+ -26780.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ 180.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_left",
998
+ "action_id": 4,
999
+ "start_pos": [
1000
+ -28900.0,
1001
+ -26780.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ 180.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28900.0,
1011
+ -26780.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28900.0,
1016
+ -26780.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ 165.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_left",
1031
+ "action_id": 4,
1032
+ "start_pos": [
1033
+ -28900.0,
1034
+ -26780.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ 165.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -26780.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -26780.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ 150.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_left",
1064
+ "action_id": 4,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -26780.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ 150.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -26780.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -26780.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ 135.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_left",
1097
+ "action_id": 4,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -26780.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ 135.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -26780.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -26780.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ 120.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "turn_left",
1130
+ "action_id": 4,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -26780.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ 120.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -26780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -26780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ 105.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "turn_left",
1163
+ "action_id": 4,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -26780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ 105.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -26780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -26780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ 90.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "no_op",
1196
+ "action_id": 8,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -26780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ 90.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -26780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -26780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ 90.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "no_op",
1229
+ "action_id": 8,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -26780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ 90.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -26780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -26780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ 90.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "no_op",
1262
+ "action_id": 8,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -26780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ 90.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -26780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -26780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ 90.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "no_op",
1295
+ "action_id": 8,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -26780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ 90.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -26780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -26780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ 90.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "no_op",
1328
+ "action_id": 8,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -26780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ 90.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -26780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -26780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ 90.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "no_op",
1361
+ "action_id": 8,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -26780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ 90.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -26780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -26780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ 90.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "no_op",
1394
+ "action_id": 8,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -26780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ 90.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -26780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -26780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ 90.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "no_op",
1427
+ "action_id": 8,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -26780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ 90.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -26780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -26780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 90.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000519.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d316582fa0557af81fb197a2e6fd33360511baa85da87a66cf577e57c28350ef
3
+ size 28694981
loop_new/run_20260427_155728__traj_000519_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 519,
3
+ "episode_id": 0,
4
+ "state_id": 81,
5
+ "sample_index": 81,
6
+ "trajectory_index_at_point": 3,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -26780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 90.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "move_forward",
55
+ "move_forward",
56
+ "move_forward",
57
+ "turn_right",
58
+ "turn_right",
59
+ "turn_right",
60
+ "turn_right",
61
+ "turn_right",
62
+ "turn_right",
63
+ "move_forward",
64
+ "move_forward",
65
+ "move_forward",
66
+ "move_forward",
67
+ "turn_right",
68
+ "turn_right",
69
+ "turn_right",
70
+ "turn_right",
71
+ "turn_right",
72
+ "turn_right",
73
+ "move_forward",
74
+ "move_forward",
75
+ "move_forward",
76
+ "move_forward",
77
+ "turn_right",
78
+ "turn_right",
79
+ "turn_right",
80
+ "turn_right",
81
+ "turn_right",
82
+ "turn_right",
83
+ "move_forward",
84
+ "move_forward",
85
+ "move_forward",
86
+ "move_forward",
87
+ "turn_right",
88
+ "turn_right",
89
+ "turn_right",
90
+ "turn_right",
91
+ "turn_right",
92
+ "turn_right"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -26780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 90.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -28900.0,
153
+ -26680.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -28900.0,
158
+ -26680.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 90.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "move_forward",
173
+ "action_id": 0,
174
+ "start_pos": [
175
+ -28900.0,
176
+ -26680.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 90.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -28900.0,
186
+ -26580.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -28900.0,
191
+ -26580.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ 90.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "move_forward",
206
+ "action_id": 0,
207
+ "start_pos": [
208
+ -28900.0,
209
+ -26580.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ 90.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -28900.0,
219
+ -26480.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -28900.0,
224
+ -26480.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ 90.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "move_forward",
239
+ "action_id": 0,
240
+ "start_pos": [
241
+ -28900.0,
242
+ -26480.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ 90.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -28900.0,
252
+ -26380.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -28900.0,
257
+ -26380.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ 90.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_right",
272
+ "action_id": 5,
273
+ "start_pos": [
274
+ -28900.0,
275
+ -26380.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ 90.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -28900.0,
285
+ -26380.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -28900.0,
290
+ -26380.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ 105.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "turn_right",
305
+ "action_id": 5,
306
+ "start_pos": [
307
+ -28900.0,
308
+ -26380.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ 105.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -28900.0,
318
+ -26380.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -28900.0,
323
+ -26380.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ 120.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_right",
338
+ "action_id": 5,
339
+ "start_pos": [
340
+ -28900.0,
341
+ -26380.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ 120.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -28900.0,
351
+ -26380.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -28900.0,
356
+ -26380.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ 135.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_right",
371
+ "action_id": 5,
372
+ "start_pos": [
373
+ -28900.0,
374
+ -26380.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ 135.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -28900.0,
384
+ -26380.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -28900.0,
389
+ -26380.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ 150.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_right",
404
+ "action_id": 5,
405
+ "start_pos": [
406
+ -28900.0,
407
+ -26380.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ 150.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -28900.0,
417
+ -26380.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -28900.0,
422
+ -26380.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ 165.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_right",
437
+ "action_id": 5,
438
+ "start_pos": [
439
+ -28900.0,
440
+ -26380.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ 165.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -28900.0,
450
+ -26380.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -28900.0,
455
+ -26380.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ -180.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "move_forward",
470
+ "action_id": 0,
471
+ "start_pos": [
472
+ -28900.0,
473
+ -26380.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ -180.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -29000.0,
483
+ -26380.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -29000.0,
488
+ -26380.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ -180.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "move_forward",
503
+ "action_id": 0,
504
+ "start_pos": [
505
+ -29000.0,
506
+ -26380.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ -180.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -29100.0,
516
+ -26380.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -29100.0,
521
+ -26380.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ -180.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "move_forward",
536
+ "action_id": 0,
537
+ "start_pos": [
538
+ -29100.0,
539
+ -26380.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ -180.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -29200.0,
549
+ -26380.0,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -29200.0,
554
+ -26380.0,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ -180.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "move_forward",
569
+ "action_id": 0,
570
+ "start_pos": [
571
+ -29200.0,
572
+ -26380.0,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ -180.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -29300.0,
582
+ -26380.0,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -29300.0,
587
+ -26380.0,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ -180.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_right",
602
+ "action_id": 5,
603
+ "start_pos": [
604
+ -29300.0,
605
+ -26380.0,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ -180.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -29300.0,
615
+ -26380.0,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -29300.0,
620
+ -26380.0,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ -165.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "turn_right",
635
+ "action_id": 5,
636
+ "start_pos": [
637
+ -29300.0,
638
+ -26380.0,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ -165.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -29300.0,
648
+ -26380.0,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -29300.0,
653
+ -26380.0,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ -150.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "turn_right",
668
+ "action_id": 5,
669
+ "start_pos": [
670
+ -29300.0,
671
+ -26380.0,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ -150.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -29300.0,
681
+ -26380.0,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -29300.0,
686
+ -26380.0,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ -135.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "turn_right",
701
+ "action_id": 5,
702
+ "start_pos": [
703
+ -29300.0,
704
+ -26380.0,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ -135.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -29300.0,
714
+ -26380.0,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -29300.0,
719
+ -26380.0,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ -120.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_right",
734
+ "action_id": 5,
735
+ "start_pos": [
736
+ -29300.0,
737
+ -26380.0,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ -120.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -29300.0,
747
+ -26380.0,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -29300.0,
752
+ -26380.0,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ -105.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_right",
767
+ "action_id": 5,
768
+ "start_pos": [
769
+ -29300.0,
770
+ -26380.0,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ -105.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -29300.0,
780
+ -26380.0,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -29300.0,
785
+ -26380.0,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ -90.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "move_forward",
800
+ "action_id": 0,
801
+ "start_pos": [
802
+ -29300.0,
803
+ -26380.0,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ -90.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -29300.0,
813
+ -26480.0,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -29300.0,
818
+ -26480.0,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ -90.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "move_forward",
833
+ "action_id": 0,
834
+ "start_pos": [
835
+ -29300.0,
836
+ -26480.0,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ -90.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -29300.0,
846
+ -26580.0,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -29300.0,
851
+ -26580.0,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ -90.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "move_forward",
866
+ "action_id": 0,
867
+ "start_pos": [
868
+ -29300.0,
869
+ -26580.0,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ -90.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -29300.0,
879
+ -26680.0,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -29300.0,
884
+ -26680.0,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ -90.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "move_forward",
899
+ "action_id": 0,
900
+ "start_pos": [
901
+ -29300.0,
902
+ -26680.0,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ -90.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -29300.0,
912
+ -26780.0,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -29300.0,
917
+ -26780.0,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ -90.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "turn_right",
932
+ "action_id": 5,
933
+ "start_pos": [
934
+ -29300.0,
935
+ -26780.0,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ -90.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -29300.0,
945
+ -26780.0,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -29300.0,
950
+ -26780.0,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ -75.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "turn_right",
965
+ "action_id": 5,
966
+ "start_pos": [
967
+ -29300.0,
968
+ -26780.0,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ -75.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -29300.0,
978
+ -26780.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -29300.0,
983
+ -26780.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ -60.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_right",
998
+ "action_id": 5,
999
+ "start_pos": [
1000
+ -29300.0,
1001
+ -26780.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ -60.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -29300.0,
1011
+ -26780.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -29300.0,
1016
+ -26780.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ -45.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_right",
1031
+ "action_id": 5,
1032
+ "start_pos": [
1033
+ -29300.0,
1034
+ -26780.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ -45.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -29300.0,
1044
+ -26780.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -29300.0,
1049
+ -26780.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ -30.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_right",
1064
+ "action_id": 5,
1065
+ "start_pos": [
1066
+ -29300.0,
1067
+ -26780.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ -30.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -29300.0,
1077
+ -26780.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -29300.0,
1082
+ -26780.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ -15.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_right",
1097
+ "action_id": 5,
1098
+ "start_pos": [
1099
+ -29300.0,
1100
+ -26780.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ -15.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -29300.0,
1110
+ -26780.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -29300.0,
1115
+ -26780.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "move_forward",
1130
+ "action_id": 0,
1131
+ "start_pos": [
1132
+ -29300.0,
1133
+ -26780.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ 0.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -29200.0,
1143
+ -26780.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -29200.0,
1148
+ -26780.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ 0.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "move_forward",
1163
+ "action_id": 0,
1164
+ "start_pos": [
1165
+ -29200.0,
1166
+ -26780.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ 0.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -29100.0,
1176
+ -26780.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -29100.0,
1181
+ -26780.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ 0.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "move_forward",
1196
+ "action_id": 0,
1197
+ "start_pos": [
1198
+ -29100.0,
1199
+ -26780.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ 0.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -29000.0,
1209
+ -26780.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -29000.0,
1214
+ -26780.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ 0.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "move_forward",
1229
+ "action_id": 0,
1230
+ "start_pos": [
1231
+ -29000.0,
1232
+ -26780.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ 0.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -26780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -26780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ 0.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "turn_right",
1262
+ "action_id": 5,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -26780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ 0.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -26780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -26780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ 15.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "turn_right",
1295
+ "action_id": 5,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -26780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ 15.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -26780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -26780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ 30.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "turn_right",
1328
+ "action_id": 5,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -26780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ 30.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -26780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -26780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ 45.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "turn_right",
1361
+ "action_id": 5,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -26780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ 45.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -26780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -26780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ 60.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "turn_right",
1394
+ "action_id": 5,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -26780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ 60.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -26780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -26780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ 75.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "turn_right",
1427
+ "action_id": 5,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -26780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ 75.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -26780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -26780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 90.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }
loop_new/run_20260427_155728__traj_000523.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc080bc2863728a7215d46c35bb820471f0a2675accb372c87e5c21ac256cd82
3
+ size 31217707
loop_new/run_20260427_155728__traj_000523_meta.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 523,
3
+ "episode_id": 0,
4
+ "state_id": 82,
5
+ "sample_index": 82,
6
+ "trajectory_index_at_point": 2,
7
+ "data_type": "reasoning",
8
+ "has_collision": false,
9
+ "trajectory_type": "hard_loop",
10
+ "algebraic_property": "hard-loop: T_A(s₀) = s₀ via topological template (rectangle / triangle / hexagon)",
11
+ "tier": "hard",
12
+ "scale_tier": {
13
+ "name": "default",
14
+ "translation_scale": 1.0,
15
+ "rotation_scale": 1.0,
16
+ "base_translation_cm": 100.0,
17
+ "base_rotation_deg": 15.0,
18
+ "effective_translation_cm": 100.0,
19
+ "effective_rotation_deg": 15.0
20
+ },
21
+ "paired_trajectory": {
22
+ "is_paired": false
23
+ },
24
+ "collision_count": 0,
25
+ "total_steps": 40,
26
+ "frames_per_step": 9,
27
+ "total_frames": 360,
28
+ "render_config": {
29
+ "resolution": [
30
+ 1280,
31
+ 720
32
+ ],
33
+ "fov": 79.0,
34
+ "image_format": "jpeg",
35
+ "modalities": [
36
+ "rgb",
37
+ "depth"
38
+ ]
39
+ },
40
+ "root_state": {
41
+ "position": [
42
+ -28900.0,
43
+ -26780.0,
44
+ 1000.0
45
+ ],
46
+ "rotation": [
47
+ 0.0,
48
+ 180.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "action_sequence": [
53
+ "move_forward",
54
+ "move_forward",
55
+ "move_forward",
56
+ "move_forward",
57
+ "turn_right",
58
+ "turn_right",
59
+ "turn_right",
60
+ "turn_right",
61
+ "turn_right",
62
+ "turn_right",
63
+ "move_forward",
64
+ "move_forward",
65
+ "move_forward",
66
+ "move_forward",
67
+ "turn_right",
68
+ "turn_right",
69
+ "turn_right",
70
+ "turn_right",
71
+ "turn_right",
72
+ "turn_right",
73
+ "move_forward",
74
+ "move_forward",
75
+ "move_forward",
76
+ "move_forward",
77
+ "turn_right",
78
+ "turn_right",
79
+ "turn_right",
80
+ "turn_right",
81
+ "turn_right",
82
+ "turn_right",
83
+ "move_forward",
84
+ "move_forward",
85
+ "move_forward",
86
+ "move_forward",
87
+ "turn_right",
88
+ "turn_right",
89
+ "turn_right",
90
+ "turn_right",
91
+ "turn_right",
92
+ "turn_right"
93
+ ],
94
+ "collision_mask": [
95
+ 0,
96
+ 0,
97
+ 0,
98
+ 0,
99
+ 0,
100
+ 0,
101
+ 0,
102
+ 0,
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 0,
108
+ 0,
109
+ 0,
110
+ 0,
111
+ 0,
112
+ 0,
113
+ 0,
114
+ 0,
115
+ 0,
116
+ 0,
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0,
124
+ 0,
125
+ 0,
126
+ 0,
127
+ 0,
128
+ 0,
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 0,
134
+ 0
135
+ ],
136
+ "steps": [
137
+ {
138
+ "step": 0,
139
+ "action": "move_forward",
140
+ "action_id": 0,
141
+ "start_pos": [
142
+ -28900.0,
143
+ -26780.0,
144
+ 1000.0
145
+ ],
146
+ "start_rot": [
147
+ 0.0,
148
+ 180.0,
149
+ 0.0
150
+ ],
151
+ "expected_end_pos": [
152
+ -29000.0,
153
+ -26780.0,
154
+ 1000.0
155
+ ],
156
+ "actual_end_pos": [
157
+ -29000.0,
158
+ -26780.0,
159
+ 1000.0
160
+ ],
161
+ "actual_end_rot": [
162
+ 0.0,
163
+ 180.0,
164
+ 0.0
165
+ ],
166
+ "collision": false,
167
+ "collision_displacement": 0.0,
168
+ "frame_dir": "step_00"
169
+ },
170
+ {
171
+ "step": 1,
172
+ "action": "move_forward",
173
+ "action_id": 0,
174
+ "start_pos": [
175
+ -29000.0,
176
+ -26780.0,
177
+ 1000.0
178
+ ],
179
+ "start_rot": [
180
+ 0.0,
181
+ 180.0,
182
+ 0.0
183
+ ],
184
+ "expected_end_pos": [
185
+ -29100.0,
186
+ -26780.0,
187
+ 1000.0
188
+ ],
189
+ "actual_end_pos": [
190
+ -29100.0,
191
+ -26780.0,
192
+ 1000.0
193
+ ],
194
+ "actual_end_rot": [
195
+ 0.0,
196
+ 180.0,
197
+ 0.0
198
+ ],
199
+ "collision": false,
200
+ "collision_displacement": 0.0,
201
+ "frame_dir": "step_01"
202
+ },
203
+ {
204
+ "step": 2,
205
+ "action": "move_forward",
206
+ "action_id": 0,
207
+ "start_pos": [
208
+ -29100.0,
209
+ -26780.0,
210
+ 1000.0
211
+ ],
212
+ "start_rot": [
213
+ 0.0,
214
+ 180.0,
215
+ 0.0
216
+ ],
217
+ "expected_end_pos": [
218
+ -29200.0,
219
+ -26780.0,
220
+ 1000.0
221
+ ],
222
+ "actual_end_pos": [
223
+ -29200.0,
224
+ -26780.0,
225
+ 1000.0
226
+ ],
227
+ "actual_end_rot": [
228
+ 0.0,
229
+ 180.0,
230
+ 0.0
231
+ ],
232
+ "collision": false,
233
+ "collision_displacement": 0.0,
234
+ "frame_dir": "step_02"
235
+ },
236
+ {
237
+ "step": 3,
238
+ "action": "move_forward",
239
+ "action_id": 0,
240
+ "start_pos": [
241
+ -29200.0,
242
+ -26780.0,
243
+ 1000.0
244
+ ],
245
+ "start_rot": [
246
+ 0.0,
247
+ 180.0,
248
+ 0.0
249
+ ],
250
+ "expected_end_pos": [
251
+ -29300.0,
252
+ -26780.0,
253
+ 1000.0
254
+ ],
255
+ "actual_end_pos": [
256
+ -29300.0,
257
+ -26780.0,
258
+ 1000.0
259
+ ],
260
+ "actual_end_rot": [
261
+ 0.0,
262
+ 180.0,
263
+ 0.0
264
+ ],
265
+ "collision": false,
266
+ "collision_displacement": 0.0,
267
+ "frame_dir": "step_03"
268
+ },
269
+ {
270
+ "step": 4,
271
+ "action": "turn_right",
272
+ "action_id": 5,
273
+ "start_pos": [
274
+ -29300.0,
275
+ -26780.0,
276
+ 1000.0
277
+ ],
278
+ "start_rot": [
279
+ 0.0,
280
+ 180.0,
281
+ 0.0
282
+ ],
283
+ "expected_end_pos": [
284
+ -29300.0,
285
+ -26780.0,
286
+ 1000.0
287
+ ],
288
+ "actual_end_pos": [
289
+ -29300.0,
290
+ -26780.0,
291
+ 1000.0
292
+ ],
293
+ "actual_end_rot": [
294
+ 0.0,
295
+ -165.0,
296
+ 0.0
297
+ ],
298
+ "collision": false,
299
+ "collision_displacement": 0.0,
300
+ "frame_dir": "step_04"
301
+ },
302
+ {
303
+ "step": 5,
304
+ "action": "turn_right",
305
+ "action_id": 5,
306
+ "start_pos": [
307
+ -29300.0,
308
+ -26780.0,
309
+ 1000.0
310
+ ],
311
+ "start_rot": [
312
+ 0.0,
313
+ -165.0,
314
+ 0.0
315
+ ],
316
+ "expected_end_pos": [
317
+ -29300.0,
318
+ -26780.0,
319
+ 1000.0
320
+ ],
321
+ "actual_end_pos": [
322
+ -29300.0,
323
+ -26780.0,
324
+ 1000.0
325
+ ],
326
+ "actual_end_rot": [
327
+ 0.0,
328
+ -150.0,
329
+ 0.0
330
+ ],
331
+ "collision": false,
332
+ "collision_displacement": 0.0,
333
+ "frame_dir": "step_05"
334
+ },
335
+ {
336
+ "step": 6,
337
+ "action": "turn_right",
338
+ "action_id": 5,
339
+ "start_pos": [
340
+ -29300.0,
341
+ -26780.0,
342
+ 1000.0
343
+ ],
344
+ "start_rot": [
345
+ 0.0,
346
+ -150.0,
347
+ 0.0
348
+ ],
349
+ "expected_end_pos": [
350
+ -29300.0,
351
+ -26780.0,
352
+ 1000.0
353
+ ],
354
+ "actual_end_pos": [
355
+ -29300.0,
356
+ -26780.0,
357
+ 1000.0
358
+ ],
359
+ "actual_end_rot": [
360
+ 0.0,
361
+ -135.0,
362
+ 0.0
363
+ ],
364
+ "collision": false,
365
+ "collision_displacement": 0.0,
366
+ "frame_dir": "step_06"
367
+ },
368
+ {
369
+ "step": 7,
370
+ "action": "turn_right",
371
+ "action_id": 5,
372
+ "start_pos": [
373
+ -29300.0,
374
+ -26780.0,
375
+ 1000.0
376
+ ],
377
+ "start_rot": [
378
+ 0.0,
379
+ -135.0,
380
+ 0.0
381
+ ],
382
+ "expected_end_pos": [
383
+ -29300.0,
384
+ -26780.0,
385
+ 1000.0
386
+ ],
387
+ "actual_end_pos": [
388
+ -29300.0,
389
+ -26780.0,
390
+ 1000.0
391
+ ],
392
+ "actual_end_rot": [
393
+ 0.0,
394
+ -120.0,
395
+ 0.0
396
+ ],
397
+ "collision": false,
398
+ "collision_displacement": 0.0,
399
+ "frame_dir": "step_07"
400
+ },
401
+ {
402
+ "step": 8,
403
+ "action": "turn_right",
404
+ "action_id": 5,
405
+ "start_pos": [
406
+ -29300.0,
407
+ -26780.0,
408
+ 1000.0
409
+ ],
410
+ "start_rot": [
411
+ 0.0,
412
+ -120.0,
413
+ 0.0
414
+ ],
415
+ "expected_end_pos": [
416
+ -29300.0,
417
+ -26780.0,
418
+ 1000.0
419
+ ],
420
+ "actual_end_pos": [
421
+ -29300.0,
422
+ -26780.0,
423
+ 1000.0
424
+ ],
425
+ "actual_end_rot": [
426
+ 0.0,
427
+ -105.0,
428
+ 0.0
429
+ ],
430
+ "collision": false,
431
+ "collision_displacement": 0.0,
432
+ "frame_dir": "step_08"
433
+ },
434
+ {
435
+ "step": 9,
436
+ "action": "turn_right",
437
+ "action_id": 5,
438
+ "start_pos": [
439
+ -29300.0,
440
+ -26780.0,
441
+ 1000.0
442
+ ],
443
+ "start_rot": [
444
+ 0.0,
445
+ -105.0,
446
+ 0.0
447
+ ],
448
+ "expected_end_pos": [
449
+ -29300.0,
450
+ -26780.0,
451
+ 1000.0
452
+ ],
453
+ "actual_end_pos": [
454
+ -29300.0,
455
+ -26780.0,
456
+ 1000.0
457
+ ],
458
+ "actual_end_rot": [
459
+ 0.0,
460
+ -90.0,
461
+ 0.0
462
+ ],
463
+ "collision": false,
464
+ "collision_displacement": 0.0,
465
+ "frame_dir": "step_09"
466
+ },
467
+ {
468
+ "step": 10,
469
+ "action": "move_forward",
470
+ "action_id": 0,
471
+ "start_pos": [
472
+ -29300.0,
473
+ -26780.0,
474
+ 1000.0
475
+ ],
476
+ "start_rot": [
477
+ 0.0,
478
+ -90.0,
479
+ 0.0
480
+ ],
481
+ "expected_end_pos": [
482
+ -29300.0,
483
+ -26880.0,
484
+ 1000.0
485
+ ],
486
+ "actual_end_pos": [
487
+ -29300.0,
488
+ -26880.0,
489
+ 1000.0
490
+ ],
491
+ "actual_end_rot": [
492
+ 0.0,
493
+ -90.0,
494
+ 0.0
495
+ ],
496
+ "collision": false,
497
+ "collision_displacement": 0.0,
498
+ "frame_dir": "step_10"
499
+ },
500
+ {
501
+ "step": 11,
502
+ "action": "move_forward",
503
+ "action_id": 0,
504
+ "start_pos": [
505
+ -29300.0,
506
+ -26880.0,
507
+ 1000.0
508
+ ],
509
+ "start_rot": [
510
+ 0.0,
511
+ -90.0,
512
+ 0.0
513
+ ],
514
+ "expected_end_pos": [
515
+ -29300.0,
516
+ -26980.0,
517
+ 1000.0
518
+ ],
519
+ "actual_end_pos": [
520
+ -29300.0,
521
+ -26980.0,
522
+ 1000.0
523
+ ],
524
+ "actual_end_rot": [
525
+ 0.0,
526
+ -90.0,
527
+ 0.0
528
+ ],
529
+ "collision": false,
530
+ "collision_displacement": 0.0,
531
+ "frame_dir": "step_11"
532
+ },
533
+ {
534
+ "step": 12,
535
+ "action": "move_forward",
536
+ "action_id": 0,
537
+ "start_pos": [
538
+ -29300.0,
539
+ -26980.0,
540
+ 1000.0
541
+ ],
542
+ "start_rot": [
543
+ 0.0,
544
+ -90.0,
545
+ 0.0
546
+ ],
547
+ "expected_end_pos": [
548
+ -29300.0,
549
+ -27080.0,
550
+ 1000.0
551
+ ],
552
+ "actual_end_pos": [
553
+ -29300.0,
554
+ -27080.0,
555
+ 1000.0
556
+ ],
557
+ "actual_end_rot": [
558
+ 0.0,
559
+ -90.0,
560
+ 0.0
561
+ ],
562
+ "collision": false,
563
+ "collision_displacement": 0.0,
564
+ "frame_dir": "step_12"
565
+ },
566
+ {
567
+ "step": 13,
568
+ "action": "move_forward",
569
+ "action_id": 0,
570
+ "start_pos": [
571
+ -29300.0,
572
+ -27080.0,
573
+ 1000.0
574
+ ],
575
+ "start_rot": [
576
+ 0.0,
577
+ -90.0,
578
+ 0.0
579
+ ],
580
+ "expected_end_pos": [
581
+ -29300.0,
582
+ -27180.0,
583
+ 1000.0
584
+ ],
585
+ "actual_end_pos": [
586
+ -29300.0,
587
+ -27180.0,
588
+ 1000.0
589
+ ],
590
+ "actual_end_rot": [
591
+ 0.0,
592
+ -90.0,
593
+ 0.0
594
+ ],
595
+ "collision": false,
596
+ "collision_displacement": 0.0,
597
+ "frame_dir": "step_13"
598
+ },
599
+ {
600
+ "step": 14,
601
+ "action": "turn_right",
602
+ "action_id": 5,
603
+ "start_pos": [
604
+ -29300.0,
605
+ -27180.0,
606
+ 1000.0
607
+ ],
608
+ "start_rot": [
609
+ 0.0,
610
+ -90.0,
611
+ 0.0
612
+ ],
613
+ "expected_end_pos": [
614
+ -29300.0,
615
+ -27180.0,
616
+ 1000.0
617
+ ],
618
+ "actual_end_pos": [
619
+ -29300.0,
620
+ -27180.0,
621
+ 1000.0
622
+ ],
623
+ "actual_end_rot": [
624
+ 0.0,
625
+ -75.0,
626
+ 0.0
627
+ ],
628
+ "collision": false,
629
+ "collision_displacement": 0.0,
630
+ "frame_dir": "step_14"
631
+ },
632
+ {
633
+ "step": 15,
634
+ "action": "turn_right",
635
+ "action_id": 5,
636
+ "start_pos": [
637
+ -29300.0,
638
+ -27180.0,
639
+ 1000.0
640
+ ],
641
+ "start_rot": [
642
+ 0.0,
643
+ -75.0,
644
+ 0.0
645
+ ],
646
+ "expected_end_pos": [
647
+ -29300.0,
648
+ -27180.0,
649
+ 1000.0
650
+ ],
651
+ "actual_end_pos": [
652
+ -29300.0,
653
+ -27180.0,
654
+ 1000.0
655
+ ],
656
+ "actual_end_rot": [
657
+ 0.0,
658
+ -60.0,
659
+ 0.0
660
+ ],
661
+ "collision": false,
662
+ "collision_displacement": 0.0,
663
+ "frame_dir": "step_15"
664
+ },
665
+ {
666
+ "step": 16,
667
+ "action": "turn_right",
668
+ "action_id": 5,
669
+ "start_pos": [
670
+ -29300.0,
671
+ -27180.0,
672
+ 1000.0
673
+ ],
674
+ "start_rot": [
675
+ 0.0,
676
+ -60.0,
677
+ 0.0
678
+ ],
679
+ "expected_end_pos": [
680
+ -29300.0,
681
+ -27180.0,
682
+ 1000.0
683
+ ],
684
+ "actual_end_pos": [
685
+ -29300.0,
686
+ -27180.0,
687
+ 1000.0
688
+ ],
689
+ "actual_end_rot": [
690
+ 0.0,
691
+ -45.0,
692
+ 0.0
693
+ ],
694
+ "collision": false,
695
+ "collision_displacement": 0.0,
696
+ "frame_dir": "step_16"
697
+ },
698
+ {
699
+ "step": 17,
700
+ "action": "turn_right",
701
+ "action_id": 5,
702
+ "start_pos": [
703
+ -29300.0,
704
+ -27180.0,
705
+ 1000.0
706
+ ],
707
+ "start_rot": [
708
+ 0.0,
709
+ -45.0,
710
+ 0.0
711
+ ],
712
+ "expected_end_pos": [
713
+ -29300.0,
714
+ -27180.0,
715
+ 1000.0
716
+ ],
717
+ "actual_end_pos": [
718
+ -29300.0,
719
+ -27180.0,
720
+ 1000.0
721
+ ],
722
+ "actual_end_rot": [
723
+ 0.0,
724
+ -30.0,
725
+ 0.0
726
+ ],
727
+ "collision": false,
728
+ "collision_displacement": 0.0,
729
+ "frame_dir": "step_17"
730
+ },
731
+ {
732
+ "step": 18,
733
+ "action": "turn_right",
734
+ "action_id": 5,
735
+ "start_pos": [
736
+ -29300.0,
737
+ -27180.0,
738
+ 1000.0
739
+ ],
740
+ "start_rot": [
741
+ 0.0,
742
+ -30.0,
743
+ 0.0
744
+ ],
745
+ "expected_end_pos": [
746
+ -29300.0,
747
+ -27180.0,
748
+ 1000.0
749
+ ],
750
+ "actual_end_pos": [
751
+ -29300.0,
752
+ -27180.0,
753
+ 1000.0
754
+ ],
755
+ "actual_end_rot": [
756
+ 0.0,
757
+ -15.0,
758
+ 0.0
759
+ ],
760
+ "collision": false,
761
+ "collision_displacement": 0.0,
762
+ "frame_dir": "step_18"
763
+ },
764
+ {
765
+ "step": 19,
766
+ "action": "turn_right",
767
+ "action_id": 5,
768
+ "start_pos": [
769
+ -29300.0,
770
+ -27180.0,
771
+ 1000.0
772
+ ],
773
+ "start_rot": [
774
+ 0.0,
775
+ -15.0,
776
+ 0.0
777
+ ],
778
+ "expected_end_pos": [
779
+ -29300.0,
780
+ -27180.0,
781
+ 1000.0
782
+ ],
783
+ "actual_end_pos": [
784
+ -29300.0,
785
+ -27180.0,
786
+ 1000.0
787
+ ],
788
+ "actual_end_rot": [
789
+ 0.0,
790
+ -0.0,
791
+ 0.0
792
+ ],
793
+ "collision": false,
794
+ "collision_displacement": 0.0,
795
+ "frame_dir": "step_19"
796
+ },
797
+ {
798
+ "step": 20,
799
+ "action": "move_forward",
800
+ "action_id": 0,
801
+ "start_pos": [
802
+ -29300.0,
803
+ -27180.0,
804
+ 1000.0
805
+ ],
806
+ "start_rot": [
807
+ 0.0,
808
+ -0.0,
809
+ 0.0
810
+ ],
811
+ "expected_end_pos": [
812
+ -29200.0,
813
+ -27180.0,
814
+ 1000.0
815
+ ],
816
+ "actual_end_pos": [
817
+ -29200.0,
818
+ -27180.0,
819
+ 1000.0
820
+ ],
821
+ "actual_end_rot": [
822
+ 0.0,
823
+ -0.0,
824
+ 0.0
825
+ ],
826
+ "collision": false,
827
+ "collision_displacement": 0.0,
828
+ "frame_dir": "step_20"
829
+ },
830
+ {
831
+ "step": 21,
832
+ "action": "move_forward",
833
+ "action_id": 0,
834
+ "start_pos": [
835
+ -29200.0,
836
+ -27180.0,
837
+ 1000.0
838
+ ],
839
+ "start_rot": [
840
+ 0.0,
841
+ -0.0,
842
+ 0.0
843
+ ],
844
+ "expected_end_pos": [
845
+ -29100.0,
846
+ -27180.0,
847
+ 1000.0
848
+ ],
849
+ "actual_end_pos": [
850
+ -29100.0,
851
+ -27180.0,
852
+ 1000.0
853
+ ],
854
+ "actual_end_rot": [
855
+ 0.0,
856
+ -0.0,
857
+ 0.0
858
+ ],
859
+ "collision": false,
860
+ "collision_displacement": 0.0,
861
+ "frame_dir": "step_21"
862
+ },
863
+ {
864
+ "step": 22,
865
+ "action": "move_forward",
866
+ "action_id": 0,
867
+ "start_pos": [
868
+ -29100.0,
869
+ -27180.0,
870
+ 1000.0
871
+ ],
872
+ "start_rot": [
873
+ 0.0,
874
+ -0.0,
875
+ 0.0
876
+ ],
877
+ "expected_end_pos": [
878
+ -29000.0,
879
+ -27180.0,
880
+ 1000.0
881
+ ],
882
+ "actual_end_pos": [
883
+ -29000.0,
884
+ -27180.0,
885
+ 1000.0
886
+ ],
887
+ "actual_end_rot": [
888
+ 0.0,
889
+ -0.0,
890
+ 0.0
891
+ ],
892
+ "collision": false,
893
+ "collision_displacement": 0.0,
894
+ "frame_dir": "step_22"
895
+ },
896
+ {
897
+ "step": 23,
898
+ "action": "move_forward",
899
+ "action_id": 0,
900
+ "start_pos": [
901
+ -29000.0,
902
+ -27180.0,
903
+ 1000.0
904
+ ],
905
+ "start_rot": [
906
+ 0.0,
907
+ -0.0,
908
+ 0.0
909
+ ],
910
+ "expected_end_pos": [
911
+ -28900.0,
912
+ -27180.0,
913
+ 1000.0
914
+ ],
915
+ "actual_end_pos": [
916
+ -28900.0,
917
+ -27180.0,
918
+ 1000.0
919
+ ],
920
+ "actual_end_rot": [
921
+ 0.0,
922
+ -0.0,
923
+ 0.0
924
+ ],
925
+ "collision": false,
926
+ "collision_displacement": 0.0,
927
+ "frame_dir": "step_23"
928
+ },
929
+ {
930
+ "step": 24,
931
+ "action": "turn_right",
932
+ "action_id": 5,
933
+ "start_pos": [
934
+ -28900.0,
935
+ -27180.0,
936
+ 1000.0
937
+ ],
938
+ "start_rot": [
939
+ 0.0,
940
+ -0.0,
941
+ 0.0
942
+ ],
943
+ "expected_end_pos": [
944
+ -28900.0,
945
+ -27180.0,
946
+ 1000.0
947
+ ],
948
+ "actual_end_pos": [
949
+ -28900.0,
950
+ -27180.0,
951
+ 1000.0
952
+ ],
953
+ "actual_end_rot": [
954
+ 0.0,
955
+ 15.0,
956
+ 0.0
957
+ ],
958
+ "collision": false,
959
+ "collision_displacement": 0.0,
960
+ "frame_dir": "step_24"
961
+ },
962
+ {
963
+ "step": 25,
964
+ "action": "turn_right",
965
+ "action_id": 5,
966
+ "start_pos": [
967
+ -28900.0,
968
+ -27180.0,
969
+ 1000.0
970
+ ],
971
+ "start_rot": [
972
+ 0.0,
973
+ 15.0,
974
+ 0.0
975
+ ],
976
+ "expected_end_pos": [
977
+ -28900.0,
978
+ -27180.0,
979
+ 1000.0
980
+ ],
981
+ "actual_end_pos": [
982
+ -28900.0,
983
+ -27180.0,
984
+ 1000.0
985
+ ],
986
+ "actual_end_rot": [
987
+ 0.0,
988
+ 30.0,
989
+ 0.0
990
+ ],
991
+ "collision": false,
992
+ "collision_displacement": 0.0,
993
+ "frame_dir": "step_25"
994
+ },
995
+ {
996
+ "step": 26,
997
+ "action": "turn_right",
998
+ "action_id": 5,
999
+ "start_pos": [
1000
+ -28900.0,
1001
+ -27180.0,
1002
+ 1000.0
1003
+ ],
1004
+ "start_rot": [
1005
+ 0.0,
1006
+ 30.0,
1007
+ 0.0
1008
+ ],
1009
+ "expected_end_pos": [
1010
+ -28900.0,
1011
+ -27180.0,
1012
+ 1000.0
1013
+ ],
1014
+ "actual_end_pos": [
1015
+ -28900.0,
1016
+ -27180.0,
1017
+ 1000.0
1018
+ ],
1019
+ "actual_end_rot": [
1020
+ 0.0,
1021
+ 45.0,
1022
+ 0.0
1023
+ ],
1024
+ "collision": false,
1025
+ "collision_displacement": 0.0,
1026
+ "frame_dir": "step_26"
1027
+ },
1028
+ {
1029
+ "step": 27,
1030
+ "action": "turn_right",
1031
+ "action_id": 5,
1032
+ "start_pos": [
1033
+ -28900.0,
1034
+ -27180.0,
1035
+ 1000.0
1036
+ ],
1037
+ "start_rot": [
1038
+ 0.0,
1039
+ 45.0,
1040
+ 0.0
1041
+ ],
1042
+ "expected_end_pos": [
1043
+ -28900.0,
1044
+ -27180.0,
1045
+ 1000.0
1046
+ ],
1047
+ "actual_end_pos": [
1048
+ -28900.0,
1049
+ -27180.0,
1050
+ 1000.0
1051
+ ],
1052
+ "actual_end_rot": [
1053
+ 0.0,
1054
+ 60.0,
1055
+ 0.0
1056
+ ],
1057
+ "collision": false,
1058
+ "collision_displacement": 0.0,
1059
+ "frame_dir": "step_27"
1060
+ },
1061
+ {
1062
+ "step": 28,
1063
+ "action": "turn_right",
1064
+ "action_id": 5,
1065
+ "start_pos": [
1066
+ -28900.0,
1067
+ -27180.0,
1068
+ 1000.0
1069
+ ],
1070
+ "start_rot": [
1071
+ 0.0,
1072
+ 60.0,
1073
+ 0.0
1074
+ ],
1075
+ "expected_end_pos": [
1076
+ -28900.0,
1077
+ -27180.0,
1078
+ 1000.0
1079
+ ],
1080
+ "actual_end_pos": [
1081
+ -28900.0,
1082
+ -27180.0,
1083
+ 1000.0
1084
+ ],
1085
+ "actual_end_rot": [
1086
+ 0.0,
1087
+ 75.0,
1088
+ 0.0
1089
+ ],
1090
+ "collision": false,
1091
+ "collision_displacement": 0.0,
1092
+ "frame_dir": "step_28"
1093
+ },
1094
+ {
1095
+ "step": 29,
1096
+ "action": "turn_right",
1097
+ "action_id": 5,
1098
+ "start_pos": [
1099
+ -28900.0,
1100
+ -27180.0,
1101
+ 1000.0
1102
+ ],
1103
+ "start_rot": [
1104
+ 0.0,
1105
+ 75.0,
1106
+ 0.0
1107
+ ],
1108
+ "expected_end_pos": [
1109
+ -28900.0,
1110
+ -27180.0,
1111
+ 1000.0
1112
+ ],
1113
+ "actual_end_pos": [
1114
+ -28900.0,
1115
+ -27180.0,
1116
+ 1000.0
1117
+ ],
1118
+ "actual_end_rot": [
1119
+ 0.0,
1120
+ 90.0,
1121
+ 0.0
1122
+ ],
1123
+ "collision": false,
1124
+ "collision_displacement": 0.0,
1125
+ "frame_dir": "step_29"
1126
+ },
1127
+ {
1128
+ "step": 30,
1129
+ "action": "move_forward",
1130
+ "action_id": 0,
1131
+ "start_pos": [
1132
+ -28900.0,
1133
+ -27180.0,
1134
+ 1000.0
1135
+ ],
1136
+ "start_rot": [
1137
+ 0.0,
1138
+ 90.0,
1139
+ 0.0
1140
+ ],
1141
+ "expected_end_pos": [
1142
+ -28900.0,
1143
+ -27080.0,
1144
+ 1000.0
1145
+ ],
1146
+ "actual_end_pos": [
1147
+ -28900.0,
1148
+ -27080.0,
1149
+ 1000.0
1150
+ ],
1151
+ "actual_end_rot": [
1152
+ 0.0,
1153
+ 90.0,
1154
+ 0.0
1155
+ ],
1156
+ "collision": false,
1157
+ "collision_displacement": 0.0,
1158
+ "frame_dir": "step_30"
1159
+ },
1160
+ {
1161
+ "step": 31,
1162
+ "action": "move_forward",
1163
+ "action_id": 0,
1164
+ "start_pos": [
1165
+ -28900.0,
1166
+ -27080.0,
1167
+ 1000.0
1168
+ ],
1169
+ "start_rot": [
1170
+ 0.0,
1171
+ 90.0,
1172
+ 0.0
1173
+ ],
1174
+ "expected_end_pos": [
1175
+ -28900.0,
1176
+ -26980.0,
1177
+ 1000.0
1178
+ ],
1179
+ "actual_end_pos": [
1180
+ -28900.0,
1181
+ -26980.0,
1182
+ 1000.0
1183
+ ],
1184
+ "actual_end_rot": [
1185
+ 0.0,
1186
+ 90.0,
1187
+ 0.0
1188
+ ],
1189
+ "collision": false,
1190
+ "collision_displacement": 0.0,
1191
+ "frame_dir": "step_31"
1192
+ },
1193
+ {
1194
+ "step": 32,
1195
+ "action": "move_forward",
1196
+ "action_id": 0,
1197
+ "start_pos": [
1198
+ -28900.0,
1199
+ -26980.0,
1200
+ 1000.0
1201
+ ],
1202
+ "start_rot": [
1203
+ 0.0,
1204
+ 90.0,
1205
+ 0.0
1206
+ ],
1207
+ "expected_end_pos": [
1208
+ -28900.0,
1209
+ -26880.0,
1210
+ 1000.0
1211
+ ],
1212
+ "actual_end_pos": [
1213
+ -28900.0,
1214
+ -26880.0,
1215
+ 1000.0
1216
+ ],
1217
+ "actual_end_rot": [
1218
+ 0.0,
1219
+ 90.0,
1220
+ 0.0
1221
+ ],
1222
+ "collision": false,
1223
+ "collision_displacement": 0.0,
1224
+ "frame_dir": "step_32"
1225
+ },
1226
+ {
1227
+ "step": 33,
1228
+ "action": "move_forward",
1229
+ "action_id": 0,
1230
+ "start_pos": [
1231
+ -28900.0,
1232
+ -26880.0,
1233
+ 1000.0
1234
+ ],
1235
+ "start_rot": [
1236
+ 0.0,
1237
+ 90.0,
1238
+ 0.0
1239
+ ],
1240
+ "expected_end_pos": [
1241
+ -28900.0,
1242
+ -26780.0,
1243
+ 1000.0
1244
+ ],
1245
+ "actual_end_pos": [
1246
+ -28900.0,
1247
+ -26780.0,
1248
+ 1000.0
1249
+ ],
1250
+ "actual_end_rot": [
1251
+ 0.0,
1252
+ 90.0,
1253
+ 0.0
1254
+ ],
1255
+ "collision": false,
1256
+ "collision_displacement": 0.0,
1257
+ "frame_dir": "step_33"
1258
+ },
1259
+ {
1260
+ "step": 34,
1261
+ "action": "turn_right",
1262
+ "action_id": 5,
1263
+ "start_pos": [
1264
+ -28900.0,
1265
+ -26780.0,
1266
+ 1000.0
1267
+ ],
1268
+ "start_rot": [
1269
+ 0.0,
1270
+ 90.0,
1271
+ 0.0
1272
+ ],
1273
+ "expected_end_pos": [
1274
+ -28900.0,
1275
+ -26780.0,
1276
+ 1000.0
1277
+ ],
1278
+ "actual_end_pos": [
1279
+ -28900.0,
1280
+ -26780.0,
1281
+ 1000.0
1282
+ ],
1283
+ "actual_end_rot": [
1284
+ 0.0,
1285
+ 105.0,
1286
+ 0.0
1287
+ ],
1288
+ "collision": false,
1289
+ "collision_displacement": 0.0,
1290
+ "frame_dir": "step_34"
1291
+ },
1292
+ {
1293
+ "step": 35,
1294
+ "action": "turn_right",
1295
+ "action_id": 5,
1296
+ "start_pos": [
1297
+ -28900.0,
1298
+ -26780.0,
1299
+ 1000.0
1300
+ ],
1301
+ "start_rot": [
1302
+ 0.0,
1303
+ 105.0,
1304
+ 0.0
1305
+ ],
1306
+ "expected_end_pos": [
1307
+ -28900.0,
1308
+ -26780.0,
1309
+ 1000.0
1310
+ ],
1311
+ "actual_end_pos": [
1312
+ -28900.0,
1313
+ -26780.0,
1314
+ 1000.0
1315
+ ],
1316
+ "actual_end_rot": [
1317
+ 0.0,
1318
+ 120.0,
1319
+ 0.0
1320
+ ],
1321
+ "collision": false,
1322
+ "collision_displacement": 0.0,
1323
+ "frame_dir": "step_35"
1324
+ },
1325
+ {
1326
+ "step": 36,
1327
+ "action": "turn_right",
1328
+ "action_id": 5,
1329
+ "start_pos": [
1330
+ -28900.0,
1331
+ -26780.0,
1332
+ 1000.0
1333
+ ],
1334
+ "start_rot": [
1335
+ 0.0,
1336
+ 120.0,
1337
+ 0.0
1338
+ ],
1339
+ "expected_end_pos": [
1340
+ -28900.0,
1341
+ -26780.0,
1342
+ 1000.0
1343
+ ],
1344
+ "actual_end_pos": [
1345
+ -28900.0,
1346
+ -26780.0,
1347
+ 1000.0
1348
+ ],
1349
+ "actual_end_rot": [
1350
+ 0.0,
1351
+ 135.0,
1352
+ 0.0
1353
+ ],
1354
+ "collision": false,
1355
+ "collision_displacement": 0.0,
1356
+ "frame_dir": "step_36"
1357
+ },
1358
+ {
1359
+ "step": 37,
1360
+ "action": "turn_right",
1361
+ "action_id": 5,
1362
+ "start_pos": [
1363
+ -28900.0,
1364
+ -26780.0,
1365
+ 1000.0
1366
+ ],
1367
+ "start_rot": [
1368
+ 0.0,
1369
+ 135.0,
1370
+ 0.0
1371
+ ],
1372
+ "expected_end_pos": [
1373
+ -28900.0,
1374
+ -26780.0,
1375
+ 1000.0
1376
+ ],
1377
+ "actual_end_pos": [
1378
+ -28900.0,
1379
+ -26780.0,
1380
+ 1000.0
1381
+ ],
1382
+ "actual_end_rot": [
1383
+ 0.0,
1384
+ 150.0,
1385
+ 0.0
1386
+ ],
1387
+ "collision": false,
1388
+ "collision_displacement": 0.0,
1389
+ "frame_dir": "step_37"
1390
+ },
1391
+ {
1392
+ "step": 38,
1393
+ "action": "turn_right",
1394
+ "action_id": 5,
1395
+ "start_pos": [
1396
+ -28900.0,
1397
+ -26780.0,
1398
+ 1000.0
1399
+ ],
1400
+ "start_rot": [
1401
+ 0.0,
1402
+ 150.0,
1403
+ 0.0
1404
+ ],
1405
+ "expected_end_pos": [
1406
+ -28900.0,
1407
+ -26780.0,
1408
+ 1000.0
1409
+ ],
1410
+ "actual_end_pos": [
1411
+ -28900.0,
1412
+ -26780.0,
1413
+ 1000.0
1414
+ ],
1415
+ "actual_end_rot": [
1416
+ 0.0,
1417
+ 165.0,
1418
+ 0.0
1419
+ ],
1420
+ "collision": false,
1421
+ "collision_displacement": 0.0,
1422
+ "frame_dir": "step_38"
1423
+ },
1424
+ {
1425
+ "step": 39,
1426
+ "action": "turn_right",
1427
+ "action_id": 5,
1428
+ "start_pos": [
1429
+ -28900.0,
1430
+ -26780.0,
1431
+ 1000.0
1432
+ ],
1433
+ "start_rot": [
1434
+ 0.0,
1435
+ 165.0,
1436
+ 0.0
1437
+ ],
1438
+ "expected_end_pos": [
1439
+ -28900.0,
1440
+ -26780.0,
1441
+ 1000.0
1442
+ ],
1443
+ "actual_end_pos": [
1444
+ -28900.0,
1445
+ -26780.0,
1446
+ 1000.0
1447
+ ],
1448
+ "actual_end_rot": [
1449
+ 0.0,
1450
+ 180.0,
1451
+ 0.0
1452
+ ],
1453
+ "collision": false,
1454
+ "collision_displacement": 0.0,
1455
+ "frame_dir": "step_39"
1456
+ }
1457
+ ],
1458
+ "video_encoding": {
1459
+ "fps": 16.0,
1460
+ "preset": "p5",
1461
+ "resolution": "1280x720",
1462
+ "total_frames": 360,
1463
+ "frames_per_step": 9,
1464
+ "num_steps": 40,
1465
+ "codec": "h264_nvenc",
1466
+ "source_format": "transcoded_from_mp4",
1467
+ "cq": 21,
1468
+ "pixel_format": "yuv420p"
1469
+ },
1470
+ "depth_video_encoding": {
1471
+ "fps": 16.0,
1472
+ "crf": 28,
1473
+ "preset": "ultrafast",
1474
+ "resolution": "1280x720",
1475
+ "total_frames": 360,
1476
+ "frames_per_step": 9,
1477
+ "num_steps": 40,
1478
+ "codec": "libx264",
1479
+ "source_format": "frames_to_mp4",
1480
+ "depth_format": "16bit_png_normalized_to_8bit_grayscale"
1481
+ }
1482
+ }