Download vortex_off/scene_000035/front.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 25.8 kB
-
https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/vortex_off/scene_000035/front.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/vortex_off/scene_000035/front.json
-
curl -L -o front.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/vortex_off/scene_000035/front.json
25.8 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.620529998785215, | |
| 0.37121975940780194, | |
| 0.7319576106013638 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.2613232900322592, | |
| 0.2844769618270475, | |
| 0.3292259519905224 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.16559951319189564, | |
| 0.21887421158932385, | |
| 0.22819632418292013 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.2518813641245609, | |
| 0.7270850865041322, | |
| 0.8882695509178131 | |
| ], | |
| "style": "instrument_bay", | |
| "wall_color_rgb": [ | |
| 0.30430011008843866, | |
| 0.43224452366115884, | |
| 0.5022923750040643 | |
| ] | |
| }, | |
| "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-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3441876982956775, | |
| 1.344253360013303, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.7854211230916848, | |
| "yaw_deg": 129.48946574901794 | |
| }, | |
| { | |
| "asset_id": "TIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.48485889690561634, | |
| 0.06281140822719472, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0984979240425723, | |
| "yaw_deg": -101.14571241394019 | |
| }, | |
| { | |
| "asset_id": "PIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5141153500686295, | |
| -0.4081381092027912, | |
| 0.8022256166530368 | |
| ], | |
| "roll_deg": -88.35487330210245, | |
| "surface": "main_table", | |
| "uniform_scale": 0.7922713954754612, | |
| "yaw_deg": 109.07678453697741 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.03512163308848204, | |
| -0.022761113258270183, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.07802976315637, | |
| "yaw_deg": 163.94918351339686 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.3066115217378614, | |
| 1.1194165795233482, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0493186581592489, | |
| "yaw_deg": -103.38354293965494 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.17173433660085535, | |
| 1.2258911057278907, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8365892831437678, | |
| "yaw_deg": -12.284431947238687 | |
| }, | |
| { | |
| "asset_id": "TR-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.7564118594981659, | |
| -0.033612082449546055, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1194466969813917, | |
| "yaw_deg": -93.84662589625565 | |
| }, | |
| { | |
| "asset_id": "RES-009", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.2153785089892548, | |
| -0.028564982008890516, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9073660810327713, | |
| "yaw_deg": 69.37100773015197 | |
| }, | |
| { | |
| "asset_id": "TIP-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.768067676075021, | |
| 1.143494436200093, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.893274655431368, | |
| "yaw_deg": 136.17646073271663 | |
| }, | |
| { | |
| "asset_id": "TR-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.6235756299163784, | |
| -0.3243848200495705, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.023742915554353, | |
| "yaw_deg": -128.23512124435752 | |
| } | |
| ], | |
| "duration_s": 15.093302044597516, | |
| "episode_id": 35, | |
| "error_type": "vortex_off", | |
| "frame_count": 453, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.9947271490643949, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2681.8655436343765, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.37679106867952566, | |
| 0.19916472515959202, | |
| 0.053903148886945265 | |
| ], | |
| "fill_fraction": 0.41377888589957773, | |
| "opacity": 0.8653897907620015, | |
| "vortex_level_rise_fraction": 0.21862827520748043 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "failure", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 2.5097019727001824, | |
| "direction_azimuth_deg": 168.0854117695322, | |
| "lateral_speed_mps": 0.058224859912503264, | |
| "phase": "lift_from_rack", | |
| "phase_fraction": 0.4169629669142072, | |
| "release_clearance_m": 0.007055679794431981, | |
| "release_tilt_deg": 120.0729351639327, | |
| "stage": "pickup", | |
| "tip_duration_s": 0.4049550216956724, | |
| "trigger_time_s": 1.479356271178875, | |
| "tube_detach_fraction": 0.48265860446927705, | |
| "tube_engagement_fraction": 0.5076300604020567, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.08136491751752134 | |
| }, | |
| "rack_id": "TR-004", | |
| "rack_position": [ | |
| -0.39275623236030877, | |
| -0.21350796438604888, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": -11.559358139858496, | |
| "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": "RES-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3441876982956775, | |
| 1.344253360013303, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.7854211230916848, | |
| "yaw_deg": 129.48946574901794 | |
| }, | |
| { | |
| "asset_id": "TIP-007", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.48485889690561634, | |
| 0.06281140822719472, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.0984979240425723, | |
| "yaw_deg": -101.14571241394019 | |
| }, | |
| { | |
| "asset_id": "PIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.5141153500686295, | |
| -0.4081381092027912, | |
| 0.8022256166530368 | |
| ], | |
| "roll_deg": -88.35487330210245, | |
| "surface": "main_table", | |
| "uniform_scale": 0.7922713954754612, | |
| "yaw_deg": 109.07678453697741 | |
| }, | |
| { | |
| "asset_id": "AUX-TR-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.03512163308848204, | |
| -0.022761113258270183, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.07802976315637, | |
| "yaw_deg": 163.94918351339686 | |
| }, | |
| { | |
| "asset_id": "SBI-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.3066115217378614, | |
| 1.1194165795233482, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0493186581592489, | |
| "yaw_deg": -103.38354293965494 | |
| }, | |
| { | |
| "asset_id": "TIP-002", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.17173433660085535, | |
| 1.2258911057278907, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8365892831437678, | |
| "yaw_deg": -12.284431947238687 | |
| }, | |
| { | |
| "asset_id": "TR-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.7564118594981659, | |
| -0.033612082449546055, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.1194466969813917, | |
| "yaw_deg": -93.84662589625565 | |
| }, | |
| { | |
| "asset_id": "RES-009", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.2153785089892548, | |
| -0.028564982008890516, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9073660810327713, | |
| "yaw_deg": 69.37100773015197 | |
| }, | |
| { | |
| "asset_id": "TIP-004", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.768067676075021, | |
| 1.143494436200093, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.893274655431368, | |
| "yaw_deg": 136.17646073271663 | |
| }, | |
| { | |
| "asset_id": "TR-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.6235756299163784, | |
| -0.3243848200495705, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 1.023742915554353, | |
| "yaw_deg": -128.23512124435752 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.620529998785215, | |
| 0.37121975940780194, | |
| 0.7319576106013638 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.2613232900322592, | |
| 0.2844769618270475, | |
| 0.3292259519905224 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.16559951319189564, | |
| 0.21887421158932385, | |
| 0.22819632418292013 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.2518813641245609, | |
| 0.7270850865041322, | |
| 0.8882695509178131 | |
| ], | |
| "style": "instrument_bay", | |
| "wall_color_rgb": [ | |
| 0.30430011008843866, | |
| 0.43224452366115884, | |
| 0.5022923750040643 | |
| ] | |
| }, | |
| "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": [ | |
| 0.9947271490643949, | |
| 0.92, | |
| 0.92 | |
| ], | |
| "light_intensity": 2681.8655436343765, | |
| "table_color_rgb": [ | |
| 0.16, | |
| 0.42, | |
| 0.46 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| -0.39275623236030877, | |
| -0.21350796438604888, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": 112.726945811865, | |
| "rack_to_vortex_distance_m": 0.4523315589174717, | |
| "rack_yaw_deg": -11.559358139858496, | |
| "return_slot_offset_xy_m": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "returns_to_different_slot": true, | |
| "start_slot_offset_xy_m": [ | |
| -0.025, | |
| 0.0 | |
| ], | |
| "tube_return_position_m": [ | |
| -0.36826329149507425, | |
| -0.21851753999403462, | |
| 0.8529 | |
| ], | |
| "tube_start_position_m": [ | |
| -0.4172491732255433, | |
| -0.20849838877806315, | |
| 0.8529 | |
| ], | |
| "vortex_contact_position_m": [ | |
| -0.5274787722825365, | |
| 0.24343289183540376, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| -0.5675099448465983, | |
| 0.20370298844832888, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -45.21641345787876 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.37679106867952566, | |
| 0.19916472515959202, | |
| 0.053903148886945265 | |
| ], | |
| "effective_peak_level_fraction": 0.41377888589957773, | |
| "effective_vortex_level_rise_fraction": 0.0, | |
| "fill_fraction": 0.41377888589957773, | |
| "opacity": 0.8653897907620015, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.21862827520748043 | |
| }, | |
| "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": 21610909, | |
| "trajectory": { | |
| "approach_pattern": "lean", | |
| "approach_sway_m": 0.006645757354825002, | |
| "depart_pattern": "s_sway", | |
| "depart_sway_m": 0.0031451365516927546, | |
| "handling_noise_amplitude_m": 0.009982257250723381, | |
| "handling_noise_frequency_hz": 1.2607873097666757, | |
| "handling_noise_phase_xyz_rad": [ | |
| 0.7810504436797894, | |
| 1.504433227696161, | |
| 2.6875062004382775 | |
| ], | |
| "lift_height_m": 0.07659048625656109, | |
| "orientation_noise_deg": 0.2781284459937243, | |
| "outbound_curve_bias": -0.4997273823471135, | |
| "outbound_pattern": "loop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 14.028640174105409, | |
| 15.093302044597516 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.0280250611778707 | |
| ], | |
| "lift_from_rack": [ | |
| 1.0280250611778707, | |
| 2.1104502303509127 | |
| ], | |
| "lower_to_rack": [ | |
| 12.886069904282257, | |
| 14.028640174105409 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.154347989157113, | |
| 5.593595819612812 | |
| ], | |
| "raise_from_vortex": [ | |
| 9.117190821995147, | |
| 10.239297536648499 | |
| ], | |
| "transfer_to_rack": [ | |
| 10.239297536648499, | |
| 12.886069904282257 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.1104502303509127, | |
| 4.154347989157113 | |
| ], | |
| "vortex": [ | |
| 5.593595819612812, | |
| 9.117190821995147 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -101.01462760834683, | |
| "pick_line_tilt_deg": 2.701436667202511, | |
| "pick_pattern": "spiral", | |
| "pick_sway_m": -0.00264760418981714, | |
| "put_pattern": "spiral", | |
| "put_sway_m": -0.003503917890131712, | |
| "rack_put_height_m": 0.3668096134973513, | |
| "return_bend_scale": 0.4522561037804468, | |
| "return_curve_bias": 0.2939399616329381, | |
| "return_pattern": "wide_detour", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 1.5832201541689692, | |
| "transfer_bend_m": 0.3061939609363469, | |
| "transfer_side": -1.0, | |
| "transport_tilt_deg": 12.336017770610766, | |
| "vertical_arc_m": 0.2106516872648606, | |
| "vortex_apparent_frequency_hz": 6.962405202324213, | |
| "vortex_approach_height_m": 0.12308822737132709, | |
| "vortex_depart_height_m": 0.09558209234462145, | |
| "vortex_frequency_hz": 23.037594797675787, | |
| "vortex_phase_rad": 5.485539997306988, | |
| "vortex_radius_m": 0.0002898999024059429, | |
| "vortex_tilt_deg": 0.4247949416240141 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| 0.025, | |
| 0.0 | |
| ], | |
| "scene_id": "vortex_off/scene_000035", | |
| "schema_version": 15, | |
| "seed": 21610909, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "ada73c3196764042202e918bcd7be3cb762b51807b2be3d2c25d84207218646a", | |
| "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": [ | |
| 5.593595819612812, | |
| 9.117190821995147 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.16, | |
| 0.42, | |
| 0.46 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "lean", | |
| "approach_sway_m": 0.006645757354825002, | |
| "depart_pattern": "s_sway", | |
| "depart_sway_m": 0.0031451365516927546, | |
| "handling_noise_amplitude_m": 0.009982257250723381, | |
| "handling_noise_frequency_hz": 1.2607873097666757, | |
| "handling_noise_phase_xyz_rad": [ | |
| 0.7810504436797894, | |
| 1.504433227696161, | |
| 2.6875062004382775 | |
| ], | |
| "lift_height_m": 0.07659048625656109, | |
| "orientation_noise_deg": 0.2781284459937243, | |
| "outbound_curve_bias": -0.4997273823471135, | |
| "outbound_pattern": "loop", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 14.028640174105409, | |
| 15.093302044597516 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 1.0280250611778707 | |
| ], | |
| "lift_from_rack": [ | |
| 1.0280250611778707, | |
| 2.1104502303509127 | |
| ], | |
| "lower_to_rack": [ | |
| 12.886069904282257, | |
| 14.028640174105409 | |
| ], | |
| "lower_to_vortex": [ | |
| 4.154347989157113, | |
| 5.593595819612812 | |
| ], | |
| "raise_from_vortex": [ | |
| 9.117190821995147, | |
| 10.239297536648499 | |
| ], | |
| "transfer_to_rack": [ | |
| 10.239297536648499, | |
| 12.886069904282257 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.1104502303509127, | |
| 4.154347989157113 | |
| ], | |
| "vortex": [ | |
| 5.593595819612812, | |
| 9.117190821995147 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -101.01462760834683, | |
| "pick_line_tilt_deg": 2.701436667202511, | |
| "pick_pattern": "spiral", | |
| "pick_sway_m": -0.00264760418981714, | |
| "put_pattern": "spiral", | |
| "put_sway_m": -0.003503917890131712, | |
| "rack_put_height_m": 0.3668096134973513, | |
| "return_bend_scale": 0.4522561037804468, | |
| "return_curve_bias": 0.2939399616329381, | |
| "return_pattern": "wide_detour", | |
| "return_side": -1.0, | |
| "return_vertical_arc_scale": 1.5832201541689692, | |
| "transfer_bend_m": 0.3061939609363469, | |
| "transfer_side": -1.0, | |
| "transport_tilt_deg": 12.336017770610766, | |
| "vertical_arc_m": 0.2106516872648606, | |
| "vortex_apparent_frequency_hz": 6.962405202324213, | |
| "vortex_approach_height_m": 0.12308822737132709, | |
| "vortex_depart_height_m": 0.09558209234462145, | |
| "vortex_frequency_hz": 23.037594797675787, | |
| "vortex_phase_rad": 5.485539997306988, | |
| "vortex_radius_m": 0.0002898999024059429, | |
| "vortex_tilt_deg": 0.4247949416240141 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 15.093302044597516, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 5.828670879282072e-16, | |
| "max_quaternion_norm_error": 1.1102230246251565e-16, | |
| "max_sample_step_m": 0.008554658912809501, | |
| "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_vortex", | |
| "phase_fraction": 0.74, | |
| "release_time_s": 3.622934571867501, | |
| "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": [ | |
| -0.36826329149507425, | |
| -0.21851753999403462, | |
| 0.8529 | |
| ], | |
| "tube_start_position": [ | |
| -0.4172491732255433, | |
| -0.20849838877806315, | |
| 0.8529 | |
| ], | |
| "video": "front.mp4", | |
| "video_sha256": "efcf71d8c76e75af423ba422bd10f4f73c3e41985777fb2bd06fc26f5608102b", | |
| "video_validation": { | |
| "actual_frame_count": 453, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 453, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 453, | |
| "max_changed_pixel_fraction": 0.011696614583333334, | |
| "mean_luminance": 110.82636260986328, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 75, | |
| 151, | |
| 226, | |
| 301, | |
| 377, | |
| 452 | |
| ], | |
| "spatial_standard_deviation": 37.48709487915039, | |
| "valid": true | |
| }, | |
| "view_index": 1, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| -0.5274787722825365, | |
| 0.24343289183540376, | |
| 1.0070000000000001 | |
| ], | |
| "vortex_id": "VTX-001", | |
| "vortex_position": [ | |
| -0.5675099448465983, | |
| 0.20370298844832888, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -45.21641345787876, | |
| "wrong_orientation": { | |
| "azimuth_deg": 139.55193042195054, | |
| "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": [ | |
| 0.30770487512970846, | |
| 0.3714755884681029, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": 111.98398956918226, | |
| "release_lateral_offset_m": 0.014577985621850403, | |
| "release_phase_fraction": 0.7031716941212484, | |
| "release_tilt_deg": 24.445905589505216, | |
| "release_time_s": 13.689492976566374, | |
| "slot_offset_xy": [ | |
| 0.04, | |
| 0.019 | |
| ], | |
| "tube_target_position": [ | |
| 0.3471282703221548, | |
| 0.3916447706900027, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": 1.6867666841451694 | |
| } | |
| } | |