Download vortex_off/scene_000011/front.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 25.9 kB
-
https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/vortex_off/scene_000011/front.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/vortex_off/scene_000011/front.json
-
curl -L -o front.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/vortex_off/scene_000011/front.json
25.9 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.8261828132772024, | |
| 0.702355847122766, | |
| 0.1423650023113894 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.6383295416694381, | |
| 0.6880820351367877, | |
| 0.7069027108613937 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.2537245390973788, | |
| 0.29592166041491796, | |
| 0.3596489228900653 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.28099248829175894, | |
| 0.739904304471543, | |
| 0.8021045339410112 | |
| ], | |
| "style": "biosafety", | |
| "wall_color_rgb": [ | |
| 0.7237551459992231, | |
| 0.8196825882931218, | |
| 0.7720156422047868 | |
| ] | |
| }, | |
| "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": "PIP-005", | |
| "pitch_deg": -86.95498619239855, | |
| "position": [ | |
| 0.6306110886753722, | |
| 1.0774275100209878, | |
| 0.854097033685531 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0259579863274397, | |
| "yaw_deg": -70.28145924012293 | |
| }, | |
| { | |
| "asset_id": "TIP-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5684128330587918, | |
| 0.12121744552239305, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.003881931754718, | |
| "yaw_deg": 38.35335550008787 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.632058489186796, | |
| -0.13109789558732277, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1520917204447754, | |
| "yaw_deg": -110.62287958613825 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.14907291984054039, | |
| 0.32568450215177036, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9743061573679466, | |
| "yaw_deg": 104.450537876125 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.29461627346377706, | |
| -0.24842950428258842, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9351271142029427, | |
| "yaw_deg": 6.865846441412145 | |
| }, | |
| { | |
| "asset_id": "PIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3212155113432922, | |
| -0.3122640057071746, | |
| 0.8006008072290687 | |
| ], | |
| "roll_deg": -87.45968931581066, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1099788163811641, | |
| "yaw_deg": 138.01415535146907 | |
| }, | |
| { | |
| "asset_id": "RES-010", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5172376895994502, | |
| 1.3182038771686402, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.874383109593421, | |
| "yaw_deg": -53.0864857441743 | |
| }, | |
| { | |
| "asset_id": "PIP-017", | |
| "pitch_deg": 90.67714232451662, | |
| "position": [ | |
| 0.4076862199155249, | |
| 1.1657125952056642, | |
| 0.8616809849902607 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1155987474154114, | |
| "yaw_deg": 95.6487356327014 | |
| }, | |
| { | |
| "asset_id": "SBI-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5176146575385062, | |
| -0.33992471352719056, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9625547853998249, | |
| "yaw_deg": 51.85953236346825 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.15499214713921716, | |
| 0.031159630402929073, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0097559816342303, | |
| "yaw_deg": -70.85294779720998 | |
| } | |
| ], | |
| "duration_s": 17.41777046663703, | |
| "episode_id": 11, | |
| "error_type": "vortex_off", | |
| "frame_count": 523, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.92, | |
| 0.92, | |
| 0.9523248278393789 | |
| ], | |
| "light_intensity": 2315.0123085077253, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.05599790174657565, | |
| 0.27223617403961786, | |
| 0.3204552694682589 | |
| ], | |
| "fill_fraction": 0.5499847030009428, | |
| "opacity": 0.8898184474975458, | |
| "vortex_level_rise_fraction": 0.20444415359459947 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "failure", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 2.565231000529166, | |
| "direction_azimuth_deg": -158.6886109270133, | |
| "lateral_speed_mps": 0.02655246438983082, | |
| "phase": "lower_to_rack", | |
| "phase_fraction": 0.7407138054712252, | |
| "release_clearance_m": 0.009606600120151902, | |
| "release_tilt_deg": 133.37651805359394, | |
| "stage": "insertion", | |
| "tip_duration_s": 0.4549122393765115, | |
| "trigger_time_s": 15.75799669030968, | |
| "tube_detach_fraction": 0.5671779020415038, | |
| "tube_engagement_fraction": 0.48023876178294267, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.08481392273845649 | |
| }, | |
| "rack_id": "TR-004", | |
| "rack_position": [ | |
| -0.3912978193451845, | |
| 0.1947955687383945, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": 43.15568021344471, | |
| "randomization_results": { | |
| "assets": { | |
| "rack_id": "TR-004", | |
| "source_tube_has_cap": true, | |
| "tube_cap_present": true, | |
| "tube_id": "CT-009", | |
| "vortex_id": "VTX-001" | |
| }, | |
| "distractors": { | |
| "count": 10, | |
| "placements": [ | |
| { | |
| "asset_id": "PIP-005", | |
| "pitch_deg": -86.95498619239855, | |
| "position": [ | |
| 0.6306110886753722, | |
| 1.0774275100209878, | |
| 0.854097033685531 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0259579863274397, | |
| "yaw_deg": -70.28145924012293 | |
| }, | |
| { | |
| "asset_id": "TIP-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5684128330587918, | |
| 0.12121744552239305, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.003881931754718, | |
| "yaw_deg": 38.35335550008787 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.632058489186796, | |
| -0.13109789558732277, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1520917204447754, | |
| "yaw_deg": -110.62287958613825 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.14907291984054039, | |
| 0.32568450215177036, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9743061573679466, | |
| "yaw_deg": 104.450537876125 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.29461627346377706, | |
| -0.24842950428258842, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9351271142029427, | |
| "yaw_deg": 6.865846441412145 | |
| }, | |
| { | |
| "asset_id": "PIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3212155113432922, | |
| -0.3122640057071746, | |
| 0.8006008072290687 | |
| ], | |
| "roll_deg": -87.45968931581066, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1099788163811641, | |
| "yaw_deg": 138.01415535146907 | |
| }, | |
| { | |
| "asset_id": "RES-010", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5172376895994502, | |
| 1.3182038771686402, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.874383109593421, | |
| "yaw_deg": -53.0864857441743 | |
| }, | |
| { | |
| "asset_id": "PIP-017", | |
| "pitch_deg": 90.67714232451662, | |
| "position": [ | |
| 0.4076862199155249, | |
| 1.1657125952056642, | |
| 0.8616809849902607 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.1155987474154114, | |
| "yaw_deg": 95.6487356327014 | |
| }, | |
| { | |
| "asset_id": "SBI-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5176146575385062, | |
| -0.33992471352719056, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9625547853998249, | |
| "yaw_deg": 51.85953236346825 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.15499214713921716, | |
| 0.031159630402929073, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0097559816342303, | |
| "yaw_deg": -70.85294779720998 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.8261828132772024, | |
| 0.702355847122766, | |
| 0.1423650023113894 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.6383295416694381, | |
| 0.6880820351367877, | |
| 0.7069027108613937 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.2537245390973788, | |
| 0.29592166041491796, | |
| 0.3596489228900653 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.28099248829175894, | |
| 0.739904304471543, | |
| 0.8021045339410112 | |
| ], | |
| "style": "biosafety", | |
| "wall_color_rgb": [ | |
| 0.7237551459992231, | |
| 0.8196825882931218, | |
| 0.7720156422047868 | |
| ] | |
| }, | |
| "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": [ | |
| 0.92, | |
| 0.92, | |
| 0.9523248278393789 | |
| ], | |
| "light_intensity": 2315.0123085077253, | |
| "table_color_rgb": [ | |
| 0.18, | |
| 0.48, | |
| 0.28 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| -0.3912978193451845, | |
| 0.1947955687383945, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": -18.969270798226944, | |
| "rack_to_vortex_distance_m": 0.6179310138192803, | |
| "rack_yaw_deg": 43.15568021344471, | |
| "return_slot_offset_xy_m": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "returns_to_different_slot": false, | |
| "start_slot_offset_xy_m": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "tube_return_position_m": [ | |
| -0.37306037123510793, | |
| 0.21189514435980292, | |
| 0.8529 | |
| ], | |
| "tube_start_position_m": [ | |
| -0.37306037123510793, | |
| 0.21189514435980292, | |
| 0.8529 | |
| ], | |
| "vortex_contact_position_m": [ | |
| 0.22967845614853238, | |
| 0.03683909304649494, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| 0.19307524591917535, | |
| -0.006069705595572544, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -40.46572806443334 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.05599790174657565, | |
| 0.27223617403961786, | |
| 0.3204552694682589 | |
| ], | |
| "effective_peak_level_fraction": 0.5499847030009428, | |
| "effective_vortex_level_rise_fraction": 0.0, | |
| "fill_fraction": 0.5499847030009428, | |
| "opacity": 0.8898184474975458, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.20444415359459947 | |
| }, | |
| "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": 21370909, | |
| "trajectory": { | |
| "approach_pattern": "straight", | |
| "approach_sway_m": -0.0033347253025039405, | |
| "depart_pattern": "s_sway", | |
| "depart_sway_m": -0.0033735030093462095, | |
| "handling_noise_amplitude_m": 0.003252530233781545, | |
| "handling_noise_frequency_hz": 2.1143712440748588, | |
| "handling_noise_phase_xyz_rad": [ | |
| 4.370047968468217, | |
| 3.1458820821952482, | |
| 1.0014759758446803 | |
| ], | |
| "lift_height_m": 0.07055905927866195, | |
| "orientation_noise_deg": 6.546906514570525, | |
| "outbound_curve_bias": 0.4444230864424408, | |
| "outbound_pattern": "s_curve", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 16.168216525913238, | |
| 17.41777046663703 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.0749654872074907 | |
| ], | |
| "lift_from_rack": [ | |
| 1.0749654872074907, | |
| 2.2725782312798932 | |
| ], | |
| "lower_to_rack": [ | |
| 14.586104387821626, | |
| 16.168216525913238 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.904167106015629, | |
| 6.330762524002098 | |
| ], | |
| "raise_from_vortex": [ | |
| 10.774421034637026, | |
| 11.903087282933779 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.903087282933779, | |
| 14.586104387821626 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.2725782312798932, | |
| 4.904167106015629 | |
| ], | |
| "vortex": [ | |
| 6.330762524002098, | |
| 10.774421034637026 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 143.82045557442694, | |
| "pick_line_tilt_deg": 6.275876577823965, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.006477974984689198, | |
| "put_pattern": "lean", | |
| "put_sway_m": 0.006897950276630026, | |
| "rack_put_height_m": 0.24717592874591576, | |
| "return_bend_scale": 1.0388624403688775, | |
| "return_curve_bias": 0.6160911126522819, | |
| "return_pattern": "wide_detour", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 0.9751823654328919, | |
| "transfer_bend_m": 0.1619944666715132, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 3.6943093186380285, | |
| "vertical_arc_m": 0.060279052242684705, | |
| "vortex_apparent_frequency_hz": 8.706807144525389, | |
| "vortex_approach_height_m": 0.3353715550412708, | |
| "vortex_depart_height_m": 0.13216172155142558, | |
| "vortex_frequency_hz": 21.29319285547461, | |
| "vortex_phase_rad": 5.073153089132042, | |
| "vortex_radius_m": 0.0006181864486018617, | |
| "vortex_tilt_deg": 0.8421005783660407 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "scene_id": "vortex_off/scene_000011", | |
| "schema_version": 15, | |
| "seed": 21370909, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "641c45977b3cf16bbaefe5a0912c0a7afa2a9800567e376c4558add6314366bb", | |
| "simultaneous_camera_count": 3, | |
| "source_tube_has_cap": true, | |
| "start_slot_offset_xy": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "subtype_event": { | |
| "category": "vortex_off", | |
| "event_phase": "vortex", | |
| "is_failure": true, | |
| "randomized_parameters": { | |
| "commanded_liquid_level_rise_fraction": 0.0, | |
| "commanded_vortex_radius_m": 0.0, | |
| "commanded_vortex_tilt_deg": 0.0 | |
| }, | |
| "realized_outcome": { | |
| "liquid_level_rise_enabled": false, | |
| "tube_stationary_on_vortex": true, | |
| "vortex_motion_enabled": false | |
| }, | |
| "time_window_s": [ | |
| 6.330762524002098, | |
| 10.774421034637026 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.18, | |
| 0.48, | |
| 0.28 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "straight", | |
| "approach_sway_m": -0.0033347253025039405, | |
| "depart_pattern": "s_sway", | |
| "depart_sway_m": -0.0033735030093462095, | |
| "handling_noise_amplitude_m": 0.003252530233781545, | |
| "handling_noise_frequency_hz": 2.1143712440748588, | |
| "handling_noise_phase_xyz_rad": [ | |
| 4.370047968468217, | |
| 3.1458820821952482, | |
| 1.0014759758446803 | |
| ], | |
| "lift_height_m": 0.07055905927866195, | |
| "orientation_noise_deg": 6.546906514570525, | |
| "outbound_curve_bias": 0.4444230864424408, | |
| "outbound_pattern": "s_curve", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 16.168216525913238, | |
| 17.41777046663703 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.0749654872074907 | |
| ], | |
| "lift_from_rack": [ | |
| 1.0749654872074907, | |
| 2.2725782312798932 | |
| ], | |
| "lower_to_rack": [ | |
| 14.586104387821626, | |
| 16.168216525913238 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.904167106015629, | |
| 6.330762524002098 | |
| ], | |
| "raise_from_vortex": [ | |
| 10.774421034637026, | |
| 11.903087282933779 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.903087282933779, | |
| 14.586104387821626 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.2725782312798932, | |
| 4.904167106015629 | |
| ], | |
| "vortex": [ | |
| 6.330762524002098, | |
| 10.774421034637026 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 143.82045557442694, | |
| "pick_line_tilt_deg": 6.275876577823965, | |
| "pick_pattern": "s_sway", | |
| "pick_sway_m": -0.006477974984689198, | |
| "put_pattern": "lean", | |
| "put_sway_m": 0.006897950276630026, | |
| "rack_put_height_m": 0.24717592874591576, | |
| "return_bend_scale": 1.0388624403688775, | |
| "return_curve_bias": 0.6160911126522819, | |
| "return_pattern": "wide_detour", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 0.9751823654328919, | |
| "transfer_bend_m": 0.1619944666715132, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 3.6943093186380285, | |
| "vertical_arc_m": 0.060279052242684705, | |
| "vortex_apparent_frequency_hz": 8.706807144525389, | |
| "vortex_approach_height_m": 0.3353715550412708, | |
| "vortex_depart_height_m": 0.13216172155142558, | |
| "vortex_frequency_hz": 21.29319285547461, | |
| "vortex_phase_rad": 5.073153089132042, | |
| "vortex_radius_m": 0.0006181864486018617, | |
| "vortex_tilt_deg": 0.8421005783660407 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 17.41777046663703, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 1.4936523181711914e-15, | |
| "max_quaternion_norm_error": 1.1102230246251565e-16, | |
| "max_sample_step_m": 0.0037966805101701142, | |
| "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": "transfer_to_rack", | |
| "phase_fraction": 0.22830496746536771, | |
| "release_time_s": 12.515633415774223, | |
| "target_surface": "table", | |
| "vortex_release_azimuth_deg": 0.0, | |
| "vortex_release_offset_m": 0.0, | |
| "vortex_release_tilt_deg": 0.0 | |
| }, | |
| "tube_id": "CT-009", | |
| "tube_return_position": [ | |
| -0.37306037123510793, | |
| 0.21189514435980292, | |
| 0.8529 | |
| ], | |
| "tube_start_position": [ | |
| -0.37306037123510793, | |
| 0.21189514435980292, | |
| 0.8529 | |
| ], | |
| "video": "front.mp4", | |
| "video_sha256": "39a5c474e075de56c65cdb437deb0d8d9bbd6612c9d3f1dbd9c066abb9219f03", | |
| "video_validation": { | |
| "actual_frame_count": 523, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 523, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 523, | |
| "max_changed_pixel_fraction": 0.010955729166666667, | |
| "mean_luminance": 144.6463165283203, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 87, | |
| 174, | |
| 261, | |
| 348, | |
| 435, | |
| 522 | |
| ], | |
| "spatial_standard_deviation": 39.162540435791016, | |
| "valid": true | |
| }, | |
| "view_index": 1, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| 0.22967845614853238, | |
| 0.03683909304649494, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_id": "VTX-001", | |
| "vortex_position": [ | |
| 0.19307524591917535, | |
| -0.006069705595572544, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -40.46572806443334, | |
| "wrong_orientation": { | |
| "azimuth_deg": 97.93833351050625, | |
| "mode": "upside_down", | |
| "tilt_deg_from_z": 180.0 | |
| }, | |
| "wrong_rack": { | |
| "hole_relation": "too_small", | |
| "insertion_depth_m": 0.0, | |
| "insertion_succeeds": false, | |
| "placement_outcome": "physx_drop_pending", | |
| "position": [ | |
| 0.11521096809036757, | |
| -0.3800722072928568, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": 150.31019947782238, | |
| "release_lateral_offset_m": 0.01779189776922498, | |
| "release_phase_fraction": 0.6480707255597478, | |
| "release_tilt_deg": 25.99713853565155, | |
| "release_time_s": 15.61142494907154, | |
| "slot_offset_xy": [ | |
| 0.04, | |
| 0.0 | |
| ], | |
| "tube_target_position": [ | |
| 0.13369302624279397, | |
| -0.34459808254748314, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": 62.48043650792681 | |
| } | |
| } | |