Download cap_open/scene_000021/left.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 22.5 kB
-
https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/cap_open/scene_000021/left.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/cap_open/scene_000021/left.json
-
curl -L -o left.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/cap_open/scene_000021/left.json
22.5 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.8607147074751107, | |
| 0.5199029940799408, | |
| 0.15578931216224476 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.4960652423493174, | |
| 0.6169043296260928, | |
| 0.5694980053412294 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.27573782902347144, | |
| 0.27971688959910745, | |
| 0.3123253768557325 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.35234574468832197, | |
| 0.6950642960580845, | |
| 0.6465656479622501 | |
| ], | |
| "style": "wet_lab", | |
| "wall_color_rgb": [ | |
| 0.7286955288312464, | |
| 0.8282768960869785, | |
| 0.7618299241006738 | |
| ] | |
| }, | |
| "camera_calibration": { | |
| "K_px": [ | |
| [ | |
| 1000.0000000000001, | |
| 0.0, | |
| 960.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1000.0000000000001, | |
| 600.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "T_camera_from_world": [ | |
| [ | |
| 0.0069431176558121255, | |
| -0.9998646519461332, | |
| 0.014915458620346878, | |
| 0.3823153391987899 | |
| ], | |
| [ | |
| -0.43151957629920296, | |
| -0.016451368713684023, | |
| -0.901953550765228, | |
| 0.9426920936472298 | |
| ], | |
| [ | |
| 0.9020768528167509, | |
| -0.00017394276111992735, | |
| -0.4315753947529237, | |
| 2.4179538337905133 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "T_world_from_camera": [ | |
| [ | |
| 0.0069431176558121255, | |
| -0.43151957629920296, | |
| 0.9020768528167509, | |
| -1.777044552192361 | |
| ], | |
| [ | |
| -0.9998646519461332, | |
| -0.016451368713684023, | |
| -0.00017394276111992735, | |
| 0.3981927543438413 | |
| ], | |
| [ | |
| 0.014915458620346878, | |
| -0.901953550765228, | |
| -0.4315753947529237, | |
| 1.8880914528341686 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "calibration_status": "approximate_reference_fit_not_metric_calibration", | |
| "clipping_range_m": [ | |
| 0.05, | |
| 5.0 | |
| ], | |
| "fixed_across_episodes": true, | |
| "lens_model": "pinhole_zero_distortion", | |
| "optical_frame": "ROS/OpenCV: +X right, +Y down, +Z forward; quaternions XYZW", | |
| "resolution_px": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "rig_id": "zed_reference_20260908_v1", | |
| "view": "left", | |
| "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" | |
| }, | |
| "camera_calibration_status": "approximate_reference_fit_not_metric_calibration", | |
| "camera_coverage": { | |
| "all_views_before_physics_release": true, | |
| "at_least_one_view_every_frame": true, | |
| "occlusion_tested": false, | |
| "per_view_in_frame_fraction": { | |
| "front": 1.0, | |
| "left": 1.0, | |
| "right": 1.0 | |
| }, | |
| "policy": "Full tube envelope in all views during controlled motion; after free release at least one view. Per-frame masks disclose any view exits." | |
| }, | |
| "camera_eye": [ | |
| -1.777044552192361, | |
| 0.3981927543438413, | |
| 1.8880914528341686 | |
| ], | |
| "camera_focal_length_mm": 10.9140625, | |
| "camera_orientation_xyzw": [ | |
| 0.6031106617202228, | |
| -0.5933339928706739, | |
| 0.38010947643571985, | |
| -0.3738035427163593 | |
| ], | |
| "camera_rig_id": "zed_reference_20260908_v1", | |
| "camera_sensor_verification": { | |
| "actual_K": [ | |
| [ | |
| 1000.0, | |
| 0.0, | |
| 960.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1000.0, | |
| 600.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "actual_eye_m": [ | |
| -1.7770445346832275, | |
| 0.39819276332855225, | |
| 1.8880914449691772 | |
| ], | |
| "actual_quaternion_xyzw": [ | |
| -0.6031106114387512, | |
| 0.5933340191841125, | |
| -0.3801094889640808, | |
| 0.3738035559654236 | |
| ], | |
| "valid": true | |
| }, | |
| "camera_target": [ | |
| -0.8749676993756101, | |
| 0.3980188115827214, | |
| 1.4565160580812448 | |
| ], | |
| "camera_view": "left", | |
| "distractors": [ | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5937554145519311, | |
| -0.16282736234928658, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0356772564493226, | |
| "yaw_deg": -154.22382066300432 | |
| }, | |
| { | |
| "asset_id": "TIP-006", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.049290269144407595, | |
| -0.20496203700763585, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9143071230650441, | |
| "yaw_deg": 0.5301769030205605 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3612498244291682, | |
| 1.1584428677679526, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1619480381223832, | |
| "yaw_deg": 52.507213840583006 | |
| }, | |
| { | |
| "asset_id": "SBI-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.007526325170293946, | |
| 1.0507146044137263, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1356188978502855, | |
| "yaw_deg": -173.49538528771228 | |
| }, | |
| { | |
| "asset_id": "PIP-018", | |
| "pitch_deg": 86.5556656301734, | |
| "position": [ | |
| -0.21087973458043874, | |
| 0.16701618447418148, | |
| 0.8333162577549313 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0771385598724854, | |
| "yaw_deg": -15.002022944063725 | |
| } | |
| ], | |
| "duration_s": 14.824673294754659, | |
| "episode_id": 21, | |
| "error_type": "cap_open", | |
| "frame_count": 445, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.92, | |
| 0.92, | |
| 0.9828665841908533 | |
| ], | |
| "light_intensity": 2191.5513093123386, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.371794743645103, | |
| 0.1932002264022396, | |
| 0.04881931665226067 | |
| ], | |
| "fill_fraction": 0.4148270529604193, | |
| "opacity": 0.9336878096730395, | |
| "vortex_level_rise_fraction": 0.19542471376574003 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "failure", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 1.7744835925167495, | |
| "direction_azimuth_deg": 41.26724961439905, | |
| "lateral_speed_mps": 0.03144674104344255, | |
| "phase": "lift_from_rack", | |
| "phase_fraction": 0.4083070943052345, | |
| "release_clearance_m": 0.004217620825766182, | |
| "release_tilt_deg": 125.36834318061065, | |
| "stage": "pickup", | |
| "tip_duration_s": 0.4694788705043928, | |
| "trigger_time_s": 1.6622379416743285, | |
| "tube_detach_fraction": 0.5967553512516135, | |
| "tube_engagement_fraction": 0.5029608876458789, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.04773838910235434 | |
| }, | |
| "rack_id": "TR-004", | |
| "rack_position": [ | |
| 0.09803099237678314, | |
| 0.2606660598840405, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": -18.33420411765855, | |
| "randomization_results": { | |
| "assets": { | |
| "rack_id": "TR-004", | |
| "source_tube_has_cap": true, | |
| "tube_cap_present": false, | |
| "tube_id": "CT-005", | |
| "vortex_id": "VTX-005" | |
| }, | |
| "distractors": { | |
| "count": 5, | |
| "placements": [ | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5937554145519311, | |
| -0.16282736234928658, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0356772564493226, | |
| "yaw_deg": -154.22382066300432 | |
| }, | |
| { | |
| "asset_id": "TIP-006", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.049290269144407595, | |
| -0.20496203700763585, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9143071230650441, | |
| "yaw_deg": 0.5301769030205605 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3612498244291682, | |
| 1.1584428677679526, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1619480381223832, | |
| "yaw_deg": 52.507213840583006 | |
| }, | |
| { | |
| "asset_id": "SBI-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.007526325170293946, | |
| 1.0507146044137263, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1356188978502855, | |
| "yaw_deg": -173.49538528771228 | |
| }, | |
| { | |
| "asset_id": "PIP-018", | |
| "pitch_deg": 86.5556656301734, | |
| "position": [ | |
| -0.21087973458043874, | |
| 0.16701618447418148, | |
| 0.8333162577549313 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0771385598724854, | |
| "yaw_deg": -15.002022944063725 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.8607147074751107, | |
| 0.5199029940799408, | |
| 0.15578931216224476 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.4960652423493174, | |
| 0.6169043296260928, | |
| 0.5694980053412294 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.27573782902347144, | |
| 0.27971688959910745, | |
| 0.3123253768557325 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.35234574468832197, | |
| 0.6950642960580845, | |
| 0.6465656479622501 | |
| ], | |
| "style": "wet_lab", | |
| "wall_color_rgb": [ | |
| 0.7286955288312464, | |
| 0.8282768960869785, | |
| 0.7618299241006738 | |
| ] | |
| }, | |
| "camera_calibration": { | |
| "K_px": [ | |
| [ | |
| 1000.0000000000001, | |
| 0.0, | |
| 960.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1000.0000000000001, | |
| 600.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "T_camera_from_world": [ | |
| [ | |
| 0.0069431176558121255, | |
| -0.9998646519461332, | |
| 0.014915458620346878, | |
| 0.3823153391987899 | |
| ], | |
| [ | |
| -0.43151957629920296, | |
| -0.016451368713684023, | |
| -0.901953550765228, | |
| 0.9426920936472298 | |
| ], | |
| [ | |
| 0.9020768528167509, | |
| -0.00017394276111992735, | |
| -0.4315753947529237, | |
| 2.4179538337905133 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "T_world_from_camera": [ | |
| [ | |
| 0.0069431176558121255, | |
| -0.43151957629920296, | |
| 0.9020768528167509, | |
| -1.777044552192361 | |
| ], | |
| [ | |
| -0.9998646519461332, | |
| -0.016451368713684023, | |
| -0.00017394276111992735, | |
| 0.3981927543438413 | |
| ], | |
| [ | |
| 0.014915458620346878, | |
| -0.901953550765228, | |
| -0.4315753947529237, | |
| 1.8880914528341686 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "calibration_status": "approximate_reference_fit_not_metric_calibration", | |
| "clipping_range_m": [ | |
| 0.05, | |
| 5.0 | |
| ], | |
| "fixed_across_episodes": true, | |
| "lens_model": "pinhole_zero_distortion", | |
| "optical_frame": "ROS/OpenCV: +X right, +Y down, +Z forward; quaternions XYZW", | |
| "resolution_px": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "rig_id": "zed_reference_20260908_v1", | |
| "view": "left", | |
| "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" | |
| }, | |
| "camera_eye_m": [ | |
| -1.777044552192361, | |
| 0.3981927543438413, | |
| 1.8880914528341686 | |
| ], | |
| "camera_focal_length_mm": 10.9140625, | |
| "camera_target_m": [ | |
| -0.8749676993756101, | |
| 0.3980188115827214, | |
| 1.4565160580812448 | |
| ], | |
| "light_color_rgb": [ | |
| 0.92, | |
| 0.92, | |
| 0.9828665841908533 | |
| ], | |
| "light_intensity": 2191.5513093123386, | |
| "table_color_rgb": [ | |
| 0.18, | |
| 0.48, | |
| 0.28 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| 0.09803099237678314, | |
| 0.2606660598840405, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": -178.69207634941208, | |
| "rack_to_vortex_distance_m": 0.6615288876052443, | |
| "rack_yaw_deg": -18.33420411765855, | |
| "return_slot_offset_xy_m": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "returns_to_different_slot": true, | |
| "start_slot_offset_xy_m": [ | |
| -0.025, | |
| 0.0 | |
| ], | |
| "tube_return_position_m": [ | |
| 0.12176193895166709, | |
| 0.2528020803151451, | |
| 0.8394 | |
| ], | |
| "tube_start_position_m": [ | |
| 0.0743000458018992, | |
| 0.2685300394529359, | |
| 0.8394 | |
| ], | |
| "vortex_contact_position_m": [ | |
| -0.545513824705443, | |
| 0.280016855549303, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| -0.5633255419773515, | |
| 0.24556627169611417, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -18.290537711349778 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.371794743645103, | |
| 0.1932002264022396, | |
| 0.04881931665226067 | |
| ], | |
| "effective_peak_level_fraction": 0.6102517667261593, | |
| "effective_vortex_level_rise_fraction": 0.19542471376574003, | |
| "fill_fraction": 0.4148270529604193, | |
| "opacity": 0.9336878096730395, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.19542471376574003 | |
| }, | |
| "rendering": { | |
| "motion_blur_enabled": true, | |
| "motion_blur_exposure_fraction": 0.75, | |
| "motion_blur_samples": 8, | |
| "physics_hz": 120, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ] | |
| }, | |
| "seed": 23470909, | |
| "trajectory": { | |
| "approach_pattern": "lean", | |
| "approach_sway_m": 0.004769590367751165, | |
| "depart_pattern": "lean", | |
| "depart_sway_m": -0.0026811239921452194, | |
| "handling_noise_amplitude_m": 0.012699353674003034, | |
| "handling_noise_frequency_hz": 2.771727199238682, | |
| "handling_noise_phase_xyz_rad": [ | |
| 2.3955250415424585, | |
| 0.394421051561921, | |
| 3.1467232460348846 | |
| ], | |
| "lift_height_m": 0.10108767686432768, | |
| "orientation_noise_deg": 2.762110043681612, | |
| "outbound_curve_bias": 0.3200856549027189, | |
| "outbound_pattern": "zigzag", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 13.934694825826274, | |
| 14.824673294754659 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.1254950716573782 | |
| ], | |
| "lift_from_rack": [ | |
| 1.1254950716573782, | |
| 2.440051878293959 | |
| ], | |
| "lower_to_rack": [ | |
| 13.150699700082626, | |
| 13.934694825826274 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.987961133019982, | |
| 5.680804561068989 | |
| ], | |
| "raise_from_vortex": [ | |
| 9.876773739454144, | |
| 11.068385170968396 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.068385170968396, | |
| 13.150699700082626 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.440051878293959, | |
| 4.987961133019982 | |
| ], | |
| "vortex": [ | |
| 5.680804561068989, | |
| 9.876773739454144 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -132.82442981858722, | |
| "pick_line_tilt_deg": 4.30634348109829, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.002159539607515723, | |
| "put_pattern": "spiral", | |
| "put_sway_m": 0.0036673287635968464, | |
| "rack_put_height_m": 0.1855512212636417, | |
| "return_bend_scale": 0.46616849513698666, | |
| "return_curve_bias": -0.25375791839066875, | |
| "return_pattern": "zigzag", | |
| "return_side": 1.0, | |
| "return_vertical_arc_scale": 1.0194081072144934, | |
| "transfer_bend_m": 0.10498443298531107, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 12.808516986056535, | |
| "vertical_arc_m": 0.25891107435440336, | |
| "vortex_apparent_frequency_hz": 5.360873919763776, | |
| "vortex_approach_height_m": 0.3091654430861911, | |
| "vortex_depart_height_m": 0.3502649693486546, | |
| "vortex_frequency_hz": 35.360873919763776, | |
| "vortex_phase_rad": 0.8719249805000289, | |
| "vortex_radius_m": 0.0003876059810669974, | |
| "vortex_tilt_deg": 0.7216135682501237 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "scene_id": "cap_open/scene_000021", | |
| "schema_version": 15, | |
| "seed": 23470909, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "a8dfba7c510f366bcff13c2cfdffa5fdc5249245a3d55d30e69bece99aa63fed", | |
| "simultaneous_camera_count": 3, | |
| "source_tube_has_cap": true, | |
| "start_slot_offset_xy": [ | |
| -0.025, | |
| 0.0 | |
| ], | |
| "subtype_event": { | |
| "category": "cap_open", | |
| "event_phase": "whole_episode", | |
| "is_failure": true, | |
| "randomized_parameters": { | |
| "cap_removed_before_first_frame": true | |
| }, | |
| "realized_outcome": { | |
| "cap_absent_for_entire_episode": true, | |
| "source_tube_has_cap": true, | |
| "tube_cap_present": false | |
| }, | |
| "time_window_s": [ | |
| 0.0, | |
| 14.824673294754659 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.18, | |
| 0.48, | |
| 0.28 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "lean", | |
| "approach_sway_m": 0.004769590367751165, | |
| "depart_pattern": "lean", | |
| "depart_sway_m": -0.0026811239921452194, | |
| "handling_noise_amplitude_m": 0.012699353674003034, | |
| "handling_noise_frequency_hz": 2.771727199238682, | |
| "handling_noise_phase_xyz_rad": [ | |
| 2.3955250415424585, | |
| 0.394421051561921, | |
| 3.1467232460348846 | |
| ], | |
| "lift_height_m": 0.10108767686432768, | |
| "orientation_noise_deg": 2.762110043681612, | |
| "outbound_curve_bias": 0.3200856549027189, | |
| "outbound_pattern": "zigzag", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 13.934694825826274, | |
| 14.824673294754659 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.1254950716573782 | |
| ], | |
| "lift_from_rack": [ | |
| 1.1254950716573782, | |
| 2.440051878293959 | |
| ], | |
| "lower_to_rack": [ | |
| 13.150699700082626, | |
| 13.934694825826274 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.987961133019982, | |
| 5.680804561068989 | |
| ], | |
| "raise_from_vortex": [ | |
| 9.876773739454144, | |
| 11.068385170968396 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.068385170968396, | |
| 13.150699700082626 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.440051878293959, | |
| 4.987961133019982 | |
| ], | |
| "vortex": [ | |
| 5.680804561068989, | |
| 9.876773739454144 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -132.82442981858722, | |
| "pick_line_tilt_deg": 4.30634348109829, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.002159539607515723, | |
| "put_pattern": "spiral", | |
| "put_sway_m": 0.0036673287635968464, | |
| "rack_put_height_m": 0.1855512212636417, | |
| "return_bend_scale": 0.46616849513698666, | |
| "return_curve_bias": -0.25375791839066875, | |
| "return_pattern": "zigzag", | |
| "return_side": 1.0, | |
| "return_vertical_arc_scale": 1.0194081072144934, | |
| "transfer_bend_m": 0.10498443298531107, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 12.808516986056535, | |
| "vertical_arc_m": 0.25891107435440336, | |
| "vortex_apparent_frequency_hz": 5.360873919763776, | |
| "vortex_approach_height_m": 0.3091654430861911, | |
| "vortex_depart_height_m": 0.3502649693486546, | |
| "vortex_frequency_hz": 35.360873919763776, | |
| "vortex_phase_rad": 0.8719249805000289, | |
| "vortex_radius_m": 0.0003876059810669974, | |
| "vortex_tilt_deg": 0.7216135682501237 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 14.824673294754659, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 5.688200336284365e-16, | |
| "max_quaternion_norm_error": 1.1102230246251565e-16, | |
| "max_sample_step_m": 0.003654649607619054, | |
| "valid": true, | |
| "wrong_orientation_contact_error_m": 0.0, | |
| "wrong_orientation_max_tilt_deg": 0.0, | |
| "wrong_orientation_min_tilt_deg": 0.0, | |
| "wrong_orientation_valid": true | |
| }, | |
| "tube_cap_present": false, | |
| "tube_drop": { | |
| "phase": "transfer_to_vortex", | |
| "phase_fraction": 0.7862298700086083, | |
| "release_time_s": 4.44329424043093, | |
| "target_surface": "table", | |
| "vortex_release_azimuth_deg": 0.0, | |
| "vortex_release_offset_m": 0.0, | |
| "vortex_release_tilt_deg": 0.0 | |
| }, | |
| "tube_id": "CT-005", | |
| "tube_return_position": [ | |
| 0.12176193895166709, | |
| 0.2528020803151451, | |
| 0.8394 | |
| ], | |
| "tube_start_position": [ | |
| 0.0743000458018992, | |
| 0.2685300394529359, | |
| 0.8394 | |
| ], | |
| "video": "left.mp4", | |
| "video_sha256": "aeb616c225b8f157339e84fd6af5d7d381b881aa4253d82996b1f68102da2612", | |
| "video_validation": { | |
| "actual_frame_count": 445, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 445, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 445, | |
| "max_changed_pixel_fraction": 0.006607638888888889, | |
| "mean_luminance": 138.47718811035156, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 74, | |
| 148, | |
| 222, | |
| 296, | |
| 370, | |
| 444 | |
| ], | |
| "spatial_standard_deviation": 35.36164474487305, | |
| "valid": true | |
| }, | |
| "view_index": 0, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| -0.545513824705443, | |
| 0.280016855549303, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_id": "VTX-005", | |
| "vortex_position": [ | |
| -0.5633255419773515, | |
| 0.24556627169611417, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -18.290537711349778, | |
| "wrong_orientation": { | |
| "azimuth_deg": 58.957610681082, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 46.95932073332642 | |
| }, | |
| "wrong_rack": { | |
| "hole_relation": "too_small", | |
| "insertion_depth_m": 0.0, | |
| "insertion_succeeds": false, | |
| "placement_outcome": "physx_drop_pending", | |
| "position": [ | |
| -0.38998604019230504, | |
| -0.2152383459836649, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": -88.81796110611282, | |
| "release_lateral_offset_m": 0.017671371355761387, | |
| "release_phase_fraction": 0.6565302257756216, | |
| "release_tilt_deg": 26.78540818567466, | |
| "release_time_s": 13.665416196994089, | |
| "slot_offset_xy": [ | |
| 0.02, | |
| 0.0 | |
| ], | |
| "tube_target_position": [ | |
| -0.382165140102002, | |
| -0.19683091482726783, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": 66.98046172867564 | |
| } | |
| } | |