Download vortex_off/scene_000031/front.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/vortex_off/scene_000031/front.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/vortex_off/scene_000031/front.json
-
curl -L -o front.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/vortex_off/scene_000031/front.json
22.5 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.2621415551991617, | |
| 0.5191436612002354, | |
| 0.718652655029393 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.7357055751336877, | |
| 0.7903699577363462, | |
| 0.8059609058757841 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.32650278199333477, | |
| 0.3318092482085223, | |
| 0.4376781369852858 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.5286637822174747, | |
| 0.7610643588364018, | |
| 0.8826342786609047 | |
| ], | |
| "style": "clean_room", | |
| "wall_color_rgb": [ | |
| 0.7734321154853003, | |
| 0.8632859372192029, | |
| 0.9113640949209034 | |
| ] | |
| }, | |
| "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": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5708509670990811, | |
| -0.0192381433223196, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.7931738997794251, | |
| "yaw_deg": -81.11051067635668 | |
| }, | |
| { | |
| "asset_id": "SBI-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.4789332742929564, | |
| 0.27255118865444006, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1768228866652146, | |
| "yaw_deg": -178.90004010875765 | |
| }, | |
| { | |
| "asset_id": "TR-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.08776348652953336, | |
| 1.1420751733760803, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8423711218861769, | |
| "yaw_deg": 126.60757584724485 | |
| }, | |
| { | |
| "asset_id": "PIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.6786576283787298, | |
| -0.20282952820871591, | |
| 0.8078048144639064 | |
| ], | |
| "roll_deg": -91.25274531357478, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1692442205342144, | |
| "yaw_deg": 66.90913097962763 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.19019116260510271, | |
| 0.2937236630091397, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.162089916328435, | |
| "yaw_deg": 138.1380440559177 | |
| } | |
| ], | |
| "duration_s": 15.39353355946724, | |
| "episode_id": 31, | |
| "error_type": "vortex_off", | |
| "frame_count": 462, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.9207393314595606, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2440.4088100500826, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.050568890124888195, | |
| 0.2278293957238505, | |
| 0.38080109337972035 | |
| ], | |
| "fill_fraction": 0.531562370079206, | |
| "opacity": 0.8319015530076671, | |
| "vortex_level_rise_fraction": 0.21882699368838238 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "failure", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 1.9159329858674552, | |
| "direction_azimuth_deg": 116.98378791207011, | |
| "lateral_speed_mps": 0.049642297873768046, | |
| "phase": "lift_from_rack", | |
| "phase_fraction": 0.36177764296932047, | |
| "release_clearance_m": 0.007386974890617523, | |
| "release_tilt_deg": 109.85582067446234, | |
| "stage": "pickup", | |
| "tip_duration_s": 0.4190716660129633, | |
| "trigger_time_s": 1.8455095180027068, | |
| "tube_detach_fraction": 0.5936549918682146, | |
| "tube_engagement_fraction": 0.6250755382025401, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.07031956721609756 | |
| }, | |
| "rack_id": "TR-004", | |
| "rack_position": [ | |
| 0.6021087699805769, | |
| 0.28164412047521786, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": 24.833375972452075, | |
| "randomization_results": { | |
| "assets": { | |
| "rack_id": "TR-004", | |
| "source_tube_has_cap": true, | |
| "tube_cap_present": true, | |
| "tube_id": "CT-009", | |
| "vortex_id": "VTX-005" | |
| }, | |
| "distractors": { | |
| "count": 5, | |
| "placements": [ | |
| { | |
| "asset_id": "AUX-TR-003", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5708509670990811, | |
| -0.0192381433223196, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.7931738997794251, | |
| "yaw_deg": -81.11051067635668 | |
| }, | |
| { | |
| "asset_id": "SBI-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.4789332742929564, | |
| 0.27255118865444006, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1768228866652146, | |
| "yaw_deg": -178.90004010875765 | |
| }, | |
| { | |
| "asset_id": "TR-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.08776348652953336, | |
| 1.1420751733760803, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8423711218861769, | |
| "yaw_deg": 126.60757584724485 | |
| }, | |
| { | |
| "asset_id": "PIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.6786576283787298, | |
| -0.20282952820871591, | |
| 0.8078048144639064 | |
| ], | |
| "roll_deg": -91.25274531357478, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1692442205342144, | |
| "yaw_deg": 66.90913097962763 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.19019116260510271, | |
| 0.2937236630091397, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.162089916328435, | |
| "yaw_deg": 138.1380440559177 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.2621415551991617, | |
| 0.5191436612002354, | |
| 0.718652655029393 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.7357055751336877, | |
| 0.7903699577363462, | |
| 0.8059609058757841 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.32650278199333477, | |
| 0.3318092482085223, | |
| 0.4376781369852858 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.5286637822174747, | |
| 0.7610643588364018, | |
| 0.8826342786609047 | |
| ], | |
| "style": "clean_room", | |
| "wall_color_rgb": [ | |
| 0.7734321154853003, | |
| 0.8632859372192029, | |
| 0.9113640949209034 | |
| ] | |
| }, | |
| "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": [ | |
| 0.9207393314595606, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2440.4088100500826, | |
| "table_color_rgb": [ | |
| 0.26, | |
| 0.32, | |
| 0.42 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| 0.6021087699805769, | |
| 0.28164412047521786, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": -134.5568747340516, | |
| "rack_to_vortex_distance_m": 0.5291516297462593, | |
| "rack_yaw_deg": 24.833375972452075, | |
| "return_slot_offset_xy_m": [ | |
| 0.075, | |
| 0.0 | |
| ], | |
| "returns_to_different_slot": false, | |
| "start_slot_offset_xy_m": [ | |
| 0.075, | |
| 0.0 | |
| ], | |
| "tube_return_position_m": [ | |
| 0.6701737438589872, | |
| 0.3131426812507727, | |
| 0.8529 | |
| ], | |
| "tube_start_position_m": [ | |
| 0.6701737438589872, | |
| 0.3131426812507727, | |
| 0.8529 | |
| ], | |
| "vortex_contact_position_m": [ | |
| 0.2128618358861759, | |
| -0.06104483150967903, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| 0.2308470291265488, | |
| -0.09540516946067196, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": 36.67828959811004 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.050568890124888195, | |
| 0.2278293957238505, | |
| 0.38080109337972035 | |
| ], | |
| "effective_peak_level_fraction": 0.531562370079206, | |
| "effective_vortex_level_rise_fraction": 0.0, | |
| "fill_fraction": 0.531562370079206, | |
| "opacity": 0.8319015530076671, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.21882699368838238 | |
| }, | |
| "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": 21570910, | |
| "trajectory": { | |
| "approach_pattern": "hook", | |
| "approach_sway_m": -0.01087505310365761, | |
| "depart_pattern": "straight", | |
| "depart_sway_m": 0.011386685402840544, | |
| "handling_noise_amplitude_m": 0.012324814231720785, | |
| "handling_noise_frequency_hz": 2.039751391189989, | |
| "handling_noise_phase_xyz_rad": [ | |
| 3.598097695166537, | |
| 1.80756591185656, | |
| 5.154095724758842 | |
| ], | |
| "lift_height_m": 0.07979180472205677, | |
| "orientation_noise_deg": 4.495672777666041, | |
| "outbound_curve_bias": -0.3852725662961974, | |
| "outbound_pattern": "loop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 14.528677612479685, | |
| 15.39353355946724 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.0380839150091579 | |
| ], | |
| "lift_from_rack": [ | |
| 1.0380839150091579, | |
| 3.269912273352518 | |
| ], | |
| "lower_to_rack": [ | |
| 13.845035548153586, | |
| 14.528677612479685 | |
| ], | |
| "lower_to_vortex": [ | |
| 5.7285762415751, | |
| 6.347570208903963 | |
| ], | |
| "raise_from_vortex": [ | |
| 10.304363733826845, | |
| 11.653981918048126 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.653981918048126, | |
| 13.845035548153586 | |
| ], | |
| "transfer_to_vortex": [ | |
| 3.269912273352518, | |
| 5.7285762415751 | |
| ], | |
| "vortex": [ | |
| 6.347570208903963, | |
| 10.304363733826845 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 154.3171063420229, | |
| "pick_line_tilt_deg": 4.124636424525556, | |
| "pick_pattern": "lean", | |
| "pick_sway_m": -0.007348851715174775, | |
| "put_pattern": "spiral", | |
| "put_sway_m": -0.007346360667844536, | |
| "rack_put_height_m": 0.2642846949482802, | |
| "return_bend_scale": 0.8065339653648017, | |
| "return_curve_bias": -0.16637006038351665, | |
| "return_pattern": "crescent", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 1.407094127381129, | |
| "transfer_bend_m": 0.12156787231124624, | |
| "transfer_side": -1.0, | |
| "transport_tilt_deg": 0.8298923792854598, | |
| "vertical_arc_m": 0.23906545748549865, | |
| "vortex_apparent_frequency_hz": 4.870328756182481, | |
| "vortex_approach_height_m": 0.15872018479396244, | |
| "vortex_depart_height_m": 0.17312755032185304, | |
| "vortex_frequency_hz": 34.87032875618248, | |
| "vortex_phase_rad": 1.93925518892551, | |
| "vortex_radius_m": 0.0003920834070940402, | |
| "vortex_tilt_deg": 0.3646587278716045 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| 0.075, | |
| 0.0 | |
| ], | |
| "scene_id": "vortex_off/scene_000031", | |
| "schema_version": 15, | |
| "seed": 21570910, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "30ba3fa3240b5fbc5e7d76a15a2d94dcffcf1e949ac4821e1966a9266b499b2a", | |
| "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": [ | |
| 6.347570208903963, | |
| 10.304363733826845 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.26, | |
| 0.32, | |
| 0.42 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "hook", | |
| "approach_sway_m": -0.01087505310365761, | |
| "depart_pattern": "straight", | |
| "depart_sway_m": 0.011386685402840544, | |
| "handling_noise_amplitude_m": 0.012324814231720785, | |
| "handling_noise_frequency_hz": 2.039751391189989, | |
| "handling_noise_phase_xyz_rad": [ | |
| 3.598097695166537, | |
| 1.80756591185656, | |
| 5.154095724758842 | |
| ], | |
| "lift_height_m": 0.07979180472205677, | |
| "orientation_noise_deg": 4.495672777666041, | |
| "outbound_curve_bias": -0.3852725662961974, | |
| "outbound_pattern": "loop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 14.528677612479685, | |
| 15.39353355946724 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.0380839150091579 | |
| ], | |
| "lift_from_rack": [ | |
| 1.0380839150091579, | |
| 3.269912273352518 | |
| ], | |
| "lower_to_rack": [ | |
| 13.845035548153586, | |
| 14.528677612479685 | |
| ], | |
| "lower_to_vortex": [ | |
| 5.7285762415751, | |
| 6.347570208903963 | |
| ], | |
| "raise_from_vortex": [ | |
| 10.304363733826845, | |
| 11.653981918048126 | |
| ], | |
| "transfer_to_rack": [ | |
| 11.653981918048126, | |
| 13.845035548153586 | |
| ], | |
| "transfer_to_vortex": [ | |
| 3.269912273352518, | |
| 5.7285762415751 | |
| ], | |
| "vortex": [ | |
| 6.347570208903963, | |
| 10.304363733826845 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": 154.3171063420229, | |
| "pick_line_tilt_deg": 4.124636424525556, | |
| "pick_pattern": "lean", | |
| "pick_sway_m": -0.007348851715174775, | |
| "put_pattern": "spiral", | |
| "put_sway_m": -0.007346360667844536, | |
| "rack_put_height_m": 0.2642846949482802, | |
| "return_bend_scale": 0.8065339653648017, | |
| "return_curve_bias": -0.16637006038351665, | |
| "return_pattern": "crescent", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 1.407094127381129, | |
| "transfer_bend_m": 0.12156787231124624, | |
| "transfer_side": -1.0, | |
| "transport_tilt_deg": 0.8298923792854598, | |
| "vertical_arc_m": 0.23906545748549865, | |
| "vortex_apparent_frequency_hz": 4.870328756182481, | |
| "vortex_approach_height_m": 0.15872018479396244, | |
| "vortex_depart_height_m": 0.17312755032185304, | |
| "vortex_frequency_hz": 34.87032875618248, | |
| "vortex_phase_rad": 1.93925518892551, | |
| "vortex_radius_m": 0.0003920834070940402, | |
| "vortex_tilt_deg": 0.3646587278716045 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 15.39353355946724, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 1.6711069443220838e-16, | |
| "max_quaternion_norm_error": 1.1102230246251565e-16, | |
| "max_sample_step_m": 0.004050106182089372, | |
| "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": 0.41999999999999993, | |
| "release_time_s": 12.574224442692419, | |
| "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": [ | |
| 0.6701737438589872, | |
| 0.3131426812507727, | |
| 0.8529 | |
| ], | |
| "tube_start_position": [ | |
| 0.6701737438589872, | |
| 0.3131426812507727, | |
| 0.8529 | |
| ], | |
| "video": "front.mp4", | |
| "video_sha256": "96f748f91b0974d43b73838e309a627379ee61ae383e8ed729fa56c11f639c48", | |
| "video_validation": { | |
| "actual_frame_count": 462, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 462, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 462, | |
| "max_changed_pixel_fraction": 0.007524739583333333, | |
| "mean_luminance": 154.12521362304688, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 77, | |
| 154, | |
| 230, | |
| 307, | |
| 384, | |
| 461 | |
| ], | |
| "spatial_standard_deviation": 30.026845932006836, | |
| "valid": true | |
| }, | |
| "view_index": 1, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| 0.2128618358861759, | |
| -0.06104483150967903, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_id": "VTX-005", | |
| "vortex_position": [ | |
| 0.2308470291265488, | |
| -0.09540516946067196, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": 36.67828959811004, | |
| "wrong_orientation": { | |
| "azimuth_deg": -120.18461014470282, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 52.632168827641955 | |
| }, | |
| "wrong_rack": { | |
| "hole_relation": "too_small", | |
| "insertion_depth_m": 0.0, | |
| "insertion_succeeds": false, | |
| "placement_outcome": "physx_drop_pending", | |
| "position": [ | |
| 0.22841399642526805, | |
| 0.2056413256463847, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": -13.778825879318816, | |
| "release_lateral_offset_m": 0.019185465159296363, | |
| "release_phase_fraction": 0.6808153621776086, | |
| "release_tilt_deg": 35.13946154808154, | |
| "release_time_s": 14.310469567777607, | |
| "slot_offset_xy": [ | |
| -0.02, | |
| -0.019 | |
| ], | |
| "tube_target_position": [ | |
| 0.2293172635710286, | |
| 0.178069889186465, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": 48.34519521758122 | |
| } | |
| } | |