Download vortex_off/scene_000021/left.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 23.3 kB
-
https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/vortex_off/scene_000021/left.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/vortex_off/scene_000021/left.json
-
curl -L -o left.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/vortex_off/scene_000021/left.json
23.3 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.795211998470056, | |
| 0.7386133097989017, | |
| 0.2017355281422502 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.6164751135930473, | |
| 0.7015303773656872, | |
| 0.7348082658172304 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.2329897064840556, | |
| 0.2867745859887634, | |
| 0.29971743438797205 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.2788100858806796, | |
| 0.6967377732835697, | |
| 0.8089748234859968 | |
| ], | |
| "style": "biosafety", | |
| "wall_color_rgb": [ | |
| 0.7554667029316078, | |
| 0.8142633882415021, | |
| 0.7793839651218614 | |
| ] | |
| }, | |
| "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": "RES-010", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.6557122295248815, | |
| -0.39701195255083227, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8387592942094424, | |
| "yaw_deg": -127.9744306638373 | |
| }, | |
| { | |
| "asset_id": "SBI-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6014907673185547, | |
| 0.42587703575558655, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9530274094962831, | |
| "yaw_deg": 168.93504015411577 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5328041273210073, | |
| -0.15970277329750132, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8139985580117, | |
| "yaw_deg": 142.4833657330936 | |
| }, | |
| { | |
| "asset_id": "TIP-006", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6125569198950807, | |
| 1.098245598690397, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.001996428074656, | |
| "yaw_deg": -69.36859347345315 | |
| }, | |
| { | |
| "asset_id": "PIP-017", | |
| "pitch_deg": 89.87948001659198, | |
| "position": [ | |
| 0.5498343309390105, | |
| 0.21909731686861172, | |
| 0.8219305403351718 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1245273822959483, | |
| "yaw_deg": -130.73084127796335 | |
| }, | |
| { | |
| "asset_id": "TIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.31464706231401157, | |
| -0.1846401188750202, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0164706408196689, | |
| "yaw_deg": 141.4021198943309 | |
| } | |
| ], | |
| "duration_s": 15.78574020163017, | |
| "episode_id": 21, | |
| "error_type": "vortex_off", | |
| "frame_count": 474, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.995889054270826, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2149.403261785131, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.06767466734142694, | |
| 0.2854691869648891, | |
| 0.33674536068196786 | |
| ], | |
| "fill_fraction": 0.5425111030636038, | |
| "opacity": 0.82464229952707, | |
| "vortex_level_rise_fraction": 0.22098301032714135 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "failure", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 1.9936695863431395, | |
| "direction_azimuth_deg": 82.90124995848072, | |
| "lateral_speed_mps": 0.06092107501393071, | |
| "phase": "lift_from_rack", | |
| "phase_fraction": 0.32229255514562105, | |
| "release_clearance_m": 0.011130543434457187, | |
| "release_tilt_deg": 136.04260451924839, | |
| "stage": "pickup", | |
| "tip_duration_s": 0.34402104171483233, | |
| "trigger_time_s": 1.4453935291010538, | |
| "tube_detach_fraction": 0.44292633012285415, | |
| "tube_engagement_fraction": 0.6439024072963585, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.08020344335159837 | |
| }, | |
| "rack_id": "TR-004", | |
| "rack_position": [ | |
| 0.07552210677358251, | |
| -0.09536529585091419, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": -10.287268520395564, | |
| "randomization_results": { | |
| "assets": { | |
| "rack_id": "TR-004", | |
| "source_tube_has_cap": true, | |
| "tube_cap_present": true, | |
| "tube_id": "CT-005", | |
| "vortex_id": "VTX-005" | |
| }, | |
| "distractors": { | |
| "count": 6, | |
| "placements": [ | |
| { | |
| "asset_id": "RES-010", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.6557122295248815, | |
| -0.39701195255083227, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8387592942094424, | |
| "yaw_deg": -127.9744306638373 | |
| }, | |
| { | |
| "asset_id": "SBI-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6014907673185547, | |
| 0.42587703575558655, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9530274094962831, | |
| "yaw_deg": 168.93504015411577 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5328041273210073, | |
| -0.15970277329750132, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.8139985580117, | |
| "yaw_deg": 142.4833657330936 | |
| }, | |
| { | |
| "asset_id": "TIP-006", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.6125569198950807, | |
| 1.098245598690397, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.001996428074656, | |
| "yaw_deg": -69.36859347345315 | |
| }, | |
| { | |
| "asset_id": "PIP-017", | |
| "pitch_deg": 89.87948001659198, | |
| "position": [ | |
| 0.5498343309390105, | |
| 0.21909731686861172, | |
| 0.8219305403351718 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1245273822959483, | |
| "yaw_deg": -130.73084127796335 | |
| }, | |
| { | |
| "asset_id": "TIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.31464706231401157, | |
| -0.1846401188750202, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0164706408196689, | |
| "yaw_deg": 141.4021198943309 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.795211998470056, | |
| 0.7386133097989017, | |
| 0.2017355281422502 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.6164751135930473, | |
| 0.7015303773656872, | |
| 0.7348082658172304 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.2329897064840556, | |
| 0.2867745859887634, | |
| 0.29971743438797205 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.2788100858806796, | |
| 0.6967377732835697, | |
| 0.8089748234859968 | |
| ], | |
| "style": "biosafety", | |
| "wall_color_rgb": [ | |
| 0.7554667029316078, | |
| 0.8142633882415021, | |
| 0.7793839651218614 | |
| ] | |
| }, | |
| "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": [ | |
| 0.995889054270826, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2149.403261785131, | |
| "table_color_rgb": [ | |
| 0.16, | |
| 0.42, | |
| 0.46 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| 0.07552210677358251, | |
| -0.09536529585091419, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": 117.60643121353996, | |
| "rack_to_vortex_distance_m": 0.42319331166592855, | |
| "rack_yaw_deg": -10.287268520395564, | |
| "return_slot_offset_xy_m": [ | |
| 0.075, | |
| 0.0 | |
| ], | |
| "returns_to_different_slot": true, | |
| "start_slot_offset_xy_m": [ | |
| -0.075, | |
| 0.0 | |
| ], | |
| "tube_return_position_m": [ | |
| 0.14931646261939052, | |
| -0.10875906474925859, | |
| 0.8394 | |
| ], | |
| "tube_start_position_m": [ | |
| 0.0017277509277744824, | |
| -0.08197152695256979, | |
| 0.8394 | |
| ], | |
| "vortex_contact_position_m": [ | |
| -0.10423037740103253, | |
| 0.31481439129453437, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| -0.12058377154606076, | |
| 0.2796481219453788, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -15.890442391135856 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.06767466734142694, | |
| 0.2854691869648891, | |
| 0.33674536068196786 | |
| ], | |
| "effective_peak_level_fraction": 0.5425111030636038, | |
| "effective_vortex_level_rise_fraction": 0.0, | |
| "fill_fraction": 0.5425111030636038, | |
| "opacity": 0.82464229952707, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.22098301032714135 | |
| }, | |
| "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": 21470909, | |
| "trajectory": { | |
| "approach_pattern": "straight", | |
| "approach_sway_m": -0.010459231456399482, | |
| "depart_pattern": "lean", | |
| "depart_sway_m": 0.008487235710059202, | |
| "handling_noise_amplitude_m": 0.003597093947810498, | |
| "handling_noise_frequency_hz": 0.8815613288137586, | |
| "handling_noise_phase_xyz_rad": [ | |
| 0.16800467009295816, | |
| 3.3500424984633392, | |
| 3.6232952775393543 | |
| ], | |
| "lift_height_m": 0.12403091488675136, | |
| "orientation_noise_deg": 1.236914547331887, | |
| "outbound_curve_bias": 0.37578665647010645, | |
| "outbound_pattern": "late_swoop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 14.958941034971172, | |
| 15.78574020163017 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 0.8332566830321584 | |
| ], | |
| "lift_from_rack": [ | |
| 0.8332566830321584, | |
| 2.732577149160562 | |
| ], | |
| "lower_to_rack": [ | |
| 13.639511699030972, | |
| 14.958941034971172 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.935912364158634, | |
| 6.415800319962784 | |
| ], | |
| "raise_from_vortex": [ | |
| 9.606479813200606, | |
| 10.327717160971787 | |
| ], | |
| "transfer_to_rack": [ | |
| 10.327717160971787, | |
| 13.639511699030972 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.732577149160562, | |
| 4.935912364158634 | |
| ], | |
| "vortex": [ | |
| 6.415800319962784, | |
| 9.606479813200606 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -43.04570355882461, | |
| "pick_line_tilt_deg": 6.934115039698577, | |
| "pick_pattern": "straight", | |
| "pick_sway_m": -0.004317061113738651, | |
| "put_pattern": "straight", | |
| "put_sway_m": -0.009939324759172004, | |
| "rack_put_height_m": 0.3275328109868044, | |
| "return_bend_scale": 0.9330120951748702, | |
| "return_curve_bias": -0.15070213381485675, | |
| "return_pattern": "double_s", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 0.5918809728713861, | |
| "transfer_bend_m": 0.2461917349563363, | |
| "transfer_side": -1.0, | |
| "transport_tilt_deg": 7.576019999196006, | |
| "vertical_arc_m": 0.11688972458014746, | |
| "vortex_apparent_frequency_hz": 8.644666946526154, | |
| "vortex_approach_height_m": 0.29634612877899796, | |
| "vortex_depart_height_m": 0.36217924109338623, | |
| "vortex_frequency_hz": 21.355333053473846, | |
| "vortex_phase_rad": 3.9252583304898874, | |
| "vortex_radius_m": 0.00043851708766830423, | |
| "vortex_tilt_deg": 0.25997636724552886 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| 0.075, | |
| 0.0 | |
| ], | |
| "scene_id": "vortex_off/scene_000021", | |
| "schema_version": 15, | |
| "seed": 21470909, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "fc0f57ebb19ae503ee31e1d7ccfbcd04e2a72ea0287b3ba8c3b0908f997c2ca8", | |
| "simultaneous_camera_count": 3, | |
| "source_tube_has_cap": true, | |
| "start_slot_offset_xy": [ | |
| -0.075, | |
| 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": [ | |
| 6.415800319962784, | |
| 9.606479813200606 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.16, | |
| 0.42, | |
| 0.46 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "straight", | |
| "approach_sway_m": -0.010459231456399482, | |
| "depart_pattern": "lean", | |
| "depart_sway_m": 0.008487235710059202, | |
| "handling_noise_amplitude_m": 0.003597093947810498, | |
| "handling_noise_frequency_hz": 0.8815613288137586, | |
| "handling_noise_phase_xyz_rad": [ | |
| 0.16800467009295816, | |
| 3.3500424984633392, | |
| 3.6232952775393543 | |
| ], | |
| "lift_height_m": 0.12403091488675136, | |
| "orientation_noise_deg": 1.236914547331887, | |
| "outbound_curve_bias": 0.37578665647010645, | |
| "outbound_pattern": "late_swoop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 14.958941034971172, | |
| 15.78574020163017 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 0.8332566830321584 | |
| ], | |
| "lift_from_rack": [ | |
| 0.8332566830321584, | |
| 2.732577149160562 | |
| ], | |
| "lower_to_rack": [ | |
| 13.639511699030972, | |
| 14.958941034971172 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.935912364158634, | |
| 6.415800319962784 | |
| ], | |
| "raise_from_vortex": [ | |
| 9.606479813200606, | |
| 10.327717160971787 | |
| ], | |
| "transfer_to_rack": [ | |
| 10.327717160971787, | |
| 13.639511699030972 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.732577149160562, | |
| 4.935912364158634 | |
| ], | |
| "vortex": [ | |
| 6.415800319962784, | |
| 9.606479813200606 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -43.04570355882461, | |
| "pick_line_tilt_deg": 6.934115039698577, | |
| "pick_pattern": "straight", | |
| "pick_sway_m": -0.004317061113738651, | |
| "put_pattern": "straight", | |
| "put_sway_m": -0.009939324759172004, | |
| "rack_put_height_m": 0.3275328109868044, | |
| "return_bend_scale": 0.9330120951748702, | |
| "return_curve_bias": -0.15070213381485675, | |
| "return_pattern": "double_s", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 0.5918809728713861, | |
| "transfer_bend_m": 0.2461917349563363, | |
| "transfer_side": -1.0, | |
| "transport_tilt_deg": 7.576019999196006, | |
| "vertical_arc_m": 0.11688972458014746, | |
| "vortex_apparent_frequency_hz": 8.644666946526154, | |
| "vortex_approach_height_m": 0.29634612877899796, | |
| "vortex_depart_height_m": 0.36217924109338623, | |
| "vortex_frequency_hz": 21.355333053473846, | |
| "vortex_phase_rad": 3.9252583304898874, | |
| "vortex_radius_m": 0.00043851708766830423, | |
| "vortex_tilt_deg": 0.25997636724552886 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 15.78574020163017, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 8.916411167297361e-16, | |
| "max_quaternion_norm_error": 1.1102230246251565e-16, | |
| "max_sample_step_m": 0.003933666956022366, | |
| "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": 0.6205383212723069, | |
| "release_time_s": 8.395739216414556, | |
| "target_surface": "vortex", | |
| "vortex_release_azimuth_deg": 41.26022198652538, | |
| "vortex_release_offset_m": 0.03516667869638119, | |
| "vortex_release_tilt_deg": 0.0 | |
| }, | |
| "tube_id": "CT-005", | |
| "tube_return_position": [ | |
| 0.14931646261939052, | |
| -0.10875906474925859, | |
| 0.8394 | |
| ], | |
| "tube_start_position": [ | |
| 0.0017277509277744824, | |
| -0.08197152695256979, | |
| 0.8394 | |
| ], | |
| "video": "left.mp4", | |
| "video_sha256": "cedf4def2f88bc288846ae311ed7e7d5cf5db8624c1d82815ec07fe2750d205b", | |
| "video_validation": { | |
| "actual_frame_count": 474, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 474, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 474, | |
| "max_changed_pixel_fraction": 0.008665364583333333, | |
| "mean_luminance": 146.69970703125, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 79, | |
| 158, | |
| 236, | |
| 315, | |
| 394, | |
| 473 | |
| ], | |
| "spatial_standard_deviation": 39.248741149902344, | |
| "valid": true | |
| }, | |
| "view_index": 0, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| -0.10423037740103253, | |
| 0.31481439129453437, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_id": "VTX-005", | |
| "vortex_position": [ | |
| -0.12058377154606076, | |
| 0.2796481219453788, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -15.890442391135856, | |
| "wrong_orientation": { | |
| "azimuth_deg": -111.82617654186974, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 51.382069086528226 | |
| }, | |
| "wrong_rack": { | |
| "hole_relation": "too_small", | |
| "insertion_depth_m": 0.0, | |
| "insertion_succeeds": false, | |
| "placement_outcome": "physx_drop_pending", | |
| "position": [ | |
| 0.4726734331726218, | |
| -0.12384163178102203, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": -105.69447541883595, | |
| "release_lateral_offset_m": 0.021977443799807705, | |
| "release_phase_fraction": 0.6680454763268046, | |
| "release_tilt_deg": 24.44563620510445, | |
| "release_time_s": 14.520950498238703, | |
| "slot_offset_xy": [ | |
| 0.04, | |
| 0.019 | |
| ], | |
| "tube_target_position": [ | |
| 0.5077962021701374, | |
| -0.09687144272074384, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": 12.112339840174357 | |
| } | |
| } | |