Download success/scene_000000/front.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 26.2 kB
-
https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/success/scene_000000/front.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/success/scene_000000/front.json
-
curl -L -o front.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/success/scene_000000/front.json
26.2 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.21745273276640156, | |
| 0.509582417165818, | |
| 0.7150786088972865 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.6752275326208004, | |
| 0.7759504699420978, | |
| 0.8024847594133816 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.26618082145254085, | |
| 0.3161812155400027, | |
| 0.4158815672503207 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.5029384041153928, | |
| 0.773127425287902, | |
| 0.9137498480956285 | |
| ], | |
| "style": "clean_room", | |
| "wall_color_rgb": [ | |
| 0.7409649949106563, | |
| 0.8645869839055036, | |
| 0.9246390528146531 | |
| ] | |
| }, | |
| "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": [ | |
| [ | |
| 0.9941431609633316, | |
| -0.050371159170527244, | |
| 0.09561444364557488, | |
| -0.13621816616963933 | |
| ], | |
| [ | |
| 0.04615070711837635, | |
| -0.6021328411238784, | |
| -0.7970609474014897, | |
| 0.9842744682742511 | |
| ], | |
| [ | |
| 0.09772148045496064, | |
| 0.7968053639151181, | |
| -0.5962815813806319, | |
| 2.012050955625201 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "T_world_from_camera": [ | |
| [ | |
| 0.9941431609633316, | |
| 0.04615070711837635, | |
| 0.09772148045496064, | |
| -0.1066252025474199 | |
| ], | |
| [ | |
| -0.050371159170527244, | |
| -0.6021328411238784, | |
| 0.7968053639151181, | |
| -1.0174104788150782 | |
| ], | |
| [ | |
| 0.09561444364557488, | |
| -0.7970609474014897, | |
| -0.5962815813806319, | |
| 1.9973000899971087 | |
| ], | |
| [ | |
| 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": "front", | |
| "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": [ | |
| -0.1066252025474199, | |
| -1.0174104788150782, | |
| 1.9973000899971087 | |
| ], | |
| "camera_focal_length_mm": 10.9140625, | |
| "camera_orientation_xyzw": [ | |
| 0.8933864762055448, | |
| -0.001181026399144831, | |
| 0.05410198420556066, | |
| -0.4460181438178333 | |
| ], | |
| "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": [ | |
| -0.10662519931793213, | |
| -1.0174105167388916, | |
| 1.997300148010254 | |
| ], | |
| "actual_quaternion_xyzw": [ | |
| -0.8933864831924438, | |
| 0.0011809766292572021, | |
| -0.05410196632146835, | |
| 0.44601812958717346 | |
| ], | |
| "valid": true | |
| }, | |
| "camera_target": [ | |
| -0.008903722092459265, | |
| -0.22060511489996004, | |
| 1.4010185086164768 | |
| ], | |
| "camera_view": "front", | |
| "distractors": [ | |
| { | |
| "asset_id": "RES-009", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.33607616951387065, | |
| 0.3934264472023912, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8746567075297377, | |
| "yaw_deg": 35.41574495940233 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5086987411193085, | |
| 1.0713682544380714, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0647965698514854, | |
| "yaw_deg": -177.27934046860776 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6180659395469399, | |
| 1.2168723797436987, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1747568610169286, | |
| "yaw_deg": -61.599567111003466 | |
| }, | |
| { | |
| "asset_id": "TIP-006", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.1787315835761304, | |
| 1.1358038089922857, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1289248449634983, | |
| "yaw_deg": 168.58330209702677 | |
| }, | |
| { | |
| "asset_id": "PIP-007", | |
| "pitch_deg": 88.81864581070104, | |
| "position": [ | |
| -0.7526331410411218, | |
| 1.0719354783526827, | |
| 0.8518189152616945 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.982438491322327, | |
| "yaw_deg": 31.532661071502503 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.047451349990183966, | |
| 0.3031872959840755, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0742487154625906, | |
| "yaw_deg": 91.50080260729425 | |
| }, | |
| { | |
| "asset_id": "TIP-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.1662292431642347, | |
| -0.28349931835205705, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9882362752774023, | |
| "yaw_deg": -174.71832979222685 | |
| }, | |
| { | |
| "asset_id": "RES-001", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.23495555339030183, | |
| 0.27699653868233765, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1623285518164936, | |
| "yaw_deg": -4.2183466610619575 | |
| }, | |
| { | |
| "asset_id": "TIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.8075705757720292, | |
| 1.2039961089515385, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8826218092724619, | |
| "yaw_deg": 45.253061603649314 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.10685119228339401, | |
| 1.267818325050335, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.9848324615024779, | |
| "yaw_deg": 156.9512244549308 | |
| } | |
| ], | |
| "duration_s": 16.208366248003347, | |
| "episode_id": 0, | |
| "error_type": null, | |
| "frame_count": 486, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.9840462130987124, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2782.4638267138134, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.32546370121890983, | |
| 0.08368725479737191, | |
| 0.16325333465840186 | |
| ], | |
| "fill_fraction": 0.41042939560970043, | |
| "opacity": 0.9280070680561422, | |
| "vortex_level_rise_fraction": 0.19807455168426108 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "success", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 2.4642183674834715, | |
| "direction_azimuth_deg": -146.02385951212614, | |
| "lateral_speed_mps": 0.06684704029825514, | |
| "phase": "lower_to_rack", | |
| "phase_fraction": 0.815355227845755, | |
| "release_clearance_m": 0.009101782595269094, | |
| "release_tilt_deg": 138.44481428928125, | |
| "stage": "insertion", | |
| "tip_duration_s": 0.28578112280711576, | |
| "trigger_time_s": 15.06941481983496, | |
| "tube_detach_fraction": 0.5875357295479714, | |
| "tube_engagement_fraction": 0.5328437617355491, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.04362850747706004 | |
| }, | |
| "rack_id": "TR-002", | |
| "rack_position": [ | |
| -0.5382023800882183, | |
| -0.1195851807738117, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": 34.43995514491597, | |
| "randomization_results": { | |
| "assets": { | |
| "rack_id": "TR-002", | |
| "source_tube_has_cap": true, | |
| "tube_cap_present": true, | |
| "tube_id": "CT-005", | |
| "vortex_id": "VTX-001" | |
| }, | |
| "distractors": { | |
| "count": 10, | |
| "placements": [ | |
| { | |
| "asset_id": "RES-009", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.33607616951387065, | |
| 0.3934264472023912, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8746567075297377, | |
| "yaw_deg": 35.41574495940233 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5086987411193085, | |
| 1.0713682544380714, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0647965698514854, | |
| "yaw_deg": -177.27934046860776 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6180659395469399, | |
| 1.2168723797436987, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1747568610169286, | |
| "yaw_deg": -61.599567111003466 | |
| }, | |
| { | |
| "asset_id": "TIP-006", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.1787315835761304, | |
| 1.1358038089922857, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1289248449634983, | |
| "yaw_deg": 168.58330209702677 | |
| }, | |
| { | |
| "asset_id": "PIP-007", | |
| "pitch_deg": 88.81864581070104, | |
| "position": [ | |
| -0.7526331410411218, | |
| 1.0719354783526827, | |
| 0.8518189152616945 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.982438491322327, | |
| "yaw_deg": 31.532661071502503 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.047451349990183966, | |
| 0.3031872959840755, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0742487154625906, | |
| "yaw_deg": 91.50080260729425 | |
| }, | |
| { | |
| "asset_id": "TIP-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.1662292431642347, | |
| -0.28349931835205705, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9882362752774023, | |
| "yaw_deg": -174.71832979222685 | |
| }, | |
| { | |
| "asset_id": "RES-001", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.23495555339030183, | |
| 0.27699653868233765, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1623285518164936, | |
| "yaw_deg": -4.2183466610619575 | |
| }, | |
| { | |
| "asset_id": "TIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.8075705757720292, | |
| 1.2039961089515385, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8826218092724619, | |
| "yaw_deg": 45.253061603649314 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.10685119228339401, | |
| 1.267818325050335, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.9848324615024779, | |
| "yaw_deg": 156.9512244549308 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.21745273276640156, | |
| 0.509582417165818, | |
| 0.7150786088972865 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.6752275326208004, | |
| 0.7759504699420978, | |
| 0.8024847594133816 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.26618082145254085, | |
| 0.3161812155400027, | |
| 0.4158815672503207 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.5029384041153928, | |
| 0.773127425287902, | |
| 0.9137498480956285 | |
| ], | |
| "style": "clean_room", | |
| "wall_color_rgb": [ | |
| 0.7409649949106563, | |
| 0.8645869839055036, | |
| 0.9246390528146531 | |
| ] | |
| }, | |
| "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": [ | |
| [ | |
| 0.9941431609633316, | |
| -0.050371159170527244, | |
| 0.09561444364557488, | |
| -0.13621816616963933 | |
| ], | |
| [ | |
| 0.04615070711837635, | |
| -0.6021328411238784, | |
| -0.7970609474014897, | |
| 0.9842744682742511 | |
| ], | |
| [ | |
| 0.09772148045496064, | |
| 0.7968053639151181, | |
| -0.5962815813806319, | |
| 2.012050955625201 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "T_world_from_camera": [ | |
| [ | |
| 0.9941431609633316, | |
| 0.04615070711837635, | |
| 0.09772148045496064, | |
| -0.1066252025474199 | |
| ], | |
| [ | |
| -0.050371159170527244, | |
| -0.6021328411238784, | |
| 0.7968053639151181, | |
| -1.0174104788150782 | |
| ], | |
| [ | |
| 0.09561444364557488, | |
| -0.7970609474014897, | |
| -0.5962815813806319, | |
| 1.9973000899971087 | |
| ], | |
| [ | |
| 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": "front", | |
| "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" | |
| }, | |
| "camera_eye_m": [ | |
| -0.1066252025474199, | |
| -1.0174104788150782, | |
| 1.9973000899971087 | |
| ], | |
| "camera_focal_length_mm": 10.9140625, | |
| "camera_target_m": [ | |
| -0.008903722092459265, | |
| -0.22060511489996004, | |
| 1.4010185086164768 | |
| ], | |
| "light_color_rgb": [ | |
| 0.9840462130987124, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2782.4638267138134, | |
| "table_color_rgb": [ | |
| 0.16, | |
| 0.42, | |
| 0.46 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| -0.5382023800882183, | |
| -0.1195851807738117, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": -5.82162261136726, | |
| "rack_to_vortex_distance_m": 0.838250924076162, | |
| "rack_yaw_deg": 34.43995514491597, | |
| "return_slot_offset_xy_m": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "returns_to_different_slot": false, | |
| "start_slot_offset_xy_m": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "tube_return_position_m": [ | |
| -0.5277859633807566, | |
| -0.19489453120904326, | |
| 0.8152000000000001 | |
| ], | |
| "tube_start_position_m": [ | |
| -0.5277859633807566, | |
| -0.19489453120904326, | |
| 0.8152000000000001 | |
| ], | |
| "vortex_contact_position_m": [ | |
| 0.34633800308042983, | |
| -0.17972447797115867, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| 0.29572526549800016, | |
| -0.20461043373765705, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -63.81695281529509 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.32546370121890983, | |
| 0.08368725479737191, | |
| 0.16325333465840186 | |
| ], | |
| "effective_peak_level_fraction": 0.6085039472939615, | |
| "effective_vortex_level_rise_fraction": 0.19807455168426108, | |
| "fill_fraction": 0.41042939560970043, | |
| "opacity": 0.9280070680561422, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.19807455168426108 | |
| }, | |
| "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": 20260909, | |
| "trajectory": { | |
| "approach_pattern": "hook", | |
| "approach_sway_m": 0.011798752092657138, | |
| "depart_pattern": "hook", | |
| "depart_sway_m": -0.00973601857161912, | |
| "handling_noise_amplitude_m": 0.003990395633512723, | |
| "handling_noise_frequency_hz": 1.9299616904238412, | |
| "handling_noise_phase_xyz_rad": [ | |
| 2.5485010099681165, | |
| 3.5721091256926294, | |
| 0.24531633862927515 | |
| ], | |
| "lift_height_m": 0.17527035788450196, | |
| "orientation_noise_deg": 3.8310790135126953, | |
| "outbound_curve_bias": -0.7052262122165387, | |
| "outbound_pattern": "s_curve", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 15.194961372439835, | |
| 16.208366248003347 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.2179090609439984 | |
| ], | |
| "lift_from_rack": [ | |
| 1.2179090609439984, | |
| 2.7049922322396567 | |
| ], | |
| "lower_to_rack": [ | |
| 14.515025779679053, | |
| 15.194961372439835 | |
| ], | |
| "lower_to_vortex": [ | |
| 6.141247802049731, | |
| 6.7679553330659665 | |
| ], | |
| "raise_from_vortex": [ | |
| 11.354691079416488, | |
| 12.345502763600031 | |
| ], | |
| "transfer_to_rack": [ | |
| 12.345502763600031, | |
| 14.515025779679053 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.7049922322396567, | |
| 6.141247802049731 | |
| ], | |
| "vortex": [ | |
| 6.7679553330659665, | |
| 11.354691079416488 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 89.98146040989462, | |
| "pick_line_tilt_deg": 3.9668689045071908, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.0043331251278415465, | |
| "put_pattern": "hook", | |
| "put_sway_m": 0.007538424617280423, | |
| "rack_put_height_m": 0.34734077418197484, | |
| "return_bend_scale": 0.7791269770436282, | |
| "return_curve_bias": 0.5844980986593928, | |
| "return_pattern": "loop", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 1.3368349086022882, | |
| "transfer_bend_m": 0.12431534105584682, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 15.393735440252327, | |
| "vertical_arc_m": 0.16947198911263353, | |
| "vortex_apparent_frequency_hz": 3.7431059575291314, | |
| "vortex_approach_height_m": 0.16015694100949618, | |
| "vortex_depart_height_m": 0.3449629833746896, | |
| "vortex_frequency_hz": 33.74310595752913, | |
| "vortex_phase_rad": 6.201581278416273, | |
| "vortex_radius_m": 0.000639495632290072, | |
| "vortex_tilt_deg": 0.6326548333393178 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "scene_id": "success/scene_000000", | |
| "schema_version": 15, | |
| "seed": 20260909, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "07b9f9d37977c5945dbf20fe96046d9c319fb88dbc3db2f2a37841127aae217d", | |
| "simultaneous_camera_count": 3, | |
| "source_tube_has_cap": true, | |
| "start_slot_offset_xy": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "subtype_event": { | |
| "category": "success", | |
| "event_phase": "vortex", | |
| "is_failure": false, | |
| "randomized_parameters": { | |
| "liquid_level_rise_fraction": 0.19807455168426108, | |
| "return_slot_offset_xy_m": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "vortex_frequency_hz": 33.74310595752913, | |
| "vortex_radius_m": 0.000639495632290072, | |
| "vortex_tilt_deg": 0.6326548333393178 | |
| }, | |
| "realized_outcome": { | |
| "liquid_level_rise_enabled": true, | |
| "liquid_present": true, | |
| "returned_to_rack_id": "TR-002", | |
| "returned_to_slot_offset_xy_m": [ | |
| -0.034, | |
| -0.068 | |
| ], | |
| "tube_cap_present": true, | |
| "vortex_motion_enabled": true | |
| }, | |
| "time_window_s": [ | |
| 6.7679553330659665, | |
| 11.354691079416488 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.16, | |
| 0.42, | |
| 0.46 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "hook", | |
| "approach_sway_m": 0.011798752092657138, | |
| "depart_pattern": "hook", | |
| "depart_sway_m": -0.00973601857161912, | |
| "handling_noise_amplitude_m": 0.003990395633512723, | |
| "handling_noise_frequency_hz": 1.9299616904238412, | |
| "handling_noise_phase_xyz_rad": [ | |
| 2.5485010099681165, | |
| 3.5721091256926294, | |
| 0.24531633862927515 | |
| ], | |
| "lift_height_m": 0.17527035788450196, | |
| "orientation_noise_deg": 3.8310790135126953, | |
| "outbound_curve_bias": -0.7052262122165387, | |
| "outbound_pattern": "s_curve", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 15.194961372439835, | |
| 16.208366248003347 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.2179090609439984 | |
| ], | |
| "lift_from_rack": [ | |
| 1.2179090609439984, | |
| 2.7049922322396567 | |
| ], | |
| "lower_to_rack": [ | |
| 14.515025779679053, | |
| 15.194961372439835 | |
| ], | |
| "lower_to_vortex": [ | |
| 6.141247802049731, | |
| 6.7679553330659665 | |
| ], | |
| "raise_from_vortex": [ | |
| 11.354691079416488, | |
| 12.345502763600031 | |
| ], | |
| "transfer_to_rack": [ | |
| 12.345502763600031, | |
| 14.515025779679053 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.7049922322396567, | |
| 6.141247802049731 | |
| ], | |
| "vortex": [ | |
| 6.7679553330659665, | |
| 11.354691079416488 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 89.98146040989462, | |
| "pick_line_tilt_deg": 3.9668689045071908, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.0043331251278415465, | |
| "put_pattern": "hook", | |
| "put_sway_m": 0.007538424617280423, | |
| "rack_put_height_m": 0.34734077418197484, | |
| "return_bend_scale": 0.7791269770436282, | |
| "return_curve_bias": 0.5844980986593928, | |
| "return_pattern": "loop", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 1.3368349086022882, | |
| "transfer_bend_m": 0.12431534105584682, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 15.393735440252327, | |
| "vertical_arc_m": 0.16947198911263353, | |
| "vortex_apparent_frequency_hz": 3.7431059575291314, | |
| "vortex_approach_height_m": 0.16015694100949618, | |
| "vortex_depart_height_m": 0.3449629833746896, | |
| "vortex_frequency_hz": 33.74310595752913, | |
| "vortex_phase_rad": 6.201581278416273, | |
| "vortex_radius_m": 0.000639495632290072, | |
| "vortex_tilt_deg": 0.6326548333393178 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 16.208366248003347, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 8.746309929968238e-16, | |
| "max_quaternion_norm_error": 1.1102230246251565e-16, | |
| "max_sample_step_m": 0.004076043188940055, | |
| "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": true, | |
| "tube_drop": { | |
| "phase": "vortex", | |
| "phase_fraction": 0.489936518681356, | |
| "release_time_s": 9.015164676744273, | |
| "target_surface": "vortex", | |
| "vortex_release_azimuth_deg": 26.200758361613197, | |
| "vortex_release_offset_m": 0.02933102791067447, | |
| "vortex_release_tilt_deg": 0.0 | |
| }, | |
| "tube_id": "CT-005", | |
| "tube_return_position": [ | |
| -0.5277859633807566, | |
| -0.19489453120904326, | |
| 0.8152000000000001 | |
| ], | |
| "tube_start_position": [ | |
| -0.5277859633807566, | |
| -0.19489453120904326, | |
| 0.8152000000000001 | |
| ], | |
| "video": "front.mp4", | |
| "video_sha256": "9837585829b28d0b39a47fb419f38eec7fbe0ec5f1466bb76543cefb176586aa", | |
| "video_validation": { | |
| "actual_frame_count": 486, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 486, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 486, | |
| "max_changed_pixel_fraction": 0.01643359375, | |
| "mean_luminance": 151.72921752929688, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 81, | |
| 162, | |
| 242, | |
| 323, | |
| 404, | |
| 485 | |
| ], | |
| "spatial_standard_deviation": 37.77285385131836, | |
| "valid": true | |
| }, | |
| "view_index": 1, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| 0.34633800308042983, | |
| -0.17972447797115867, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_id": "VTX-001", | |
| "vortex_position": [ | |
| 0.29572526549800016, | |
| -0.20461043373765705, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -63.81695281529509, | |
| "wrong_orientation": { | |
| "azimuth_deg": 66.35896394431109, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 51.717415263703586 | |
| }, | |
| "wrong_rack": { | |
| "hole_relation": "too_small", | |
| "insertion_depth_m": 0.0, | |
| "insertion_succeeds": false, | |
| "placement_outcome": "physx_drop_pending", | |
| "position": [ | |
| 0.4984679813614784, | |
| 0.27419074103797336, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": -141.01883124813088, | |
| "release_lateral_offset_m": 0.022662488086168314, | |
| "release_phase_fraction": 0.6821536934338481, | |
| "release_tilt_deg": 34.02428594801097, | |
| "release_time_s": 14.978846355577954, | |
| "slot_offset_xy": [ | |
| 0.02, | |
| -0.019 | |
| ], | |
| "tube_target_position": [ | |
| 0.5062795978057519, | |
| 0.24773363143530594, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": -30.019256761189247 | |
| } | |
| } | |