Download wrong_orientation/scene_000002/front.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 22 kB
-
https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/wrong_orientation/scene_000002/front.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/wrong_orientation/scene_000002/front.json
-
curl -L -o front.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/wrong_orientation/scene_000002/front.json
22 kB
| { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.2552159982770375, | |
| 0.4855976189028054, | |
| 0.66529842462856 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.76065041315351, | |
| 0.7846304749897902, | |
| 0.7630437760024809 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.30641619092419875, | |
| 0.35497219859182466, | |
| 0.37187192760635734 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.514054094301869, | |
| 0.7747351231976475, | |
| 0.8887828517887195 | |
| ], | |
| "style": "clean_room", | |
| "wall_color_rgb": [ | |
| 0.7862231414222018, | |
| 0.8705300363135162, | |
| 0.9202594810384357 | |
| ] | |
| }, | |
| "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": "TR-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5741490833972398, | |
| 0.30320707319464685, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.938757649340904, | |
| "yaw_deg": 63.08531239568961 | |
| }, | |
| { | |
| "asset_id": "RES-001", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5810249983932002, | |
| 1.046155097223721, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0779417412649324, | |
| "yaw_deg": 129.2151380026828 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3825521806299932, | |
| -0.19976431421269616, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9439094037090803, | |
| "yaw_deg": 4.219745536253583 | |
| }, | |
| { | |
| "asset_id": "TR-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.37786032950215087, | |
| 1.1091442308762984, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8549197386868177, | |
| "yaw_deg": 25.44888426039816 | |
| } | |
| ], | |
| "duration_s": 17.338287095902633, | |
| "episode_id": 2, | |
| "error_type": "wrong_orientation", | |
| "frame_count": 520, | |
| "generation_success": true, | |
| "light_color_rgb": [ | |
| 0.92, | |
| 0.92, | |
| 0.9296799333188613 | |
| ], | |
| "light_intensity": 2674.8546193178145, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.0496494953292306, | |
| 0.281588966743686, | |
| 0.2267579267138657 | |
| ], | |
| "fill_fraction": 0.44780899303070965, | |
| "opacity": 0.8819173243342187, | |
| "vortex_level_rise_fraction": 0.21260106585353364 | |
| }, | |
| "metadata_schema_version": 2, | |
| "outcome": "failure", | |
| "physics_scene_count": 1, | |
| "rack_flip": { | |
| "angular_speed_rad_s": 2.148650188782764, | |
| "direction_azimuth_deg": -128.21387380279066, | |
| "lateral_speed_mps": 0.07216097758227524, | |
| "phase": "lift_from_rack", | |
| "phase_fraction": 0.25160870398683066, | |
| "release_clearance_m": 0.010739047897597685, | |
| "release_tilt_deg": 119.0210972767167, | |
| "stage": "pickup", | |
| "tip_duration_s": 0.3958668775636099, | |
| "trigger_time_s": 1.2189619138386996, | |
| "tube_detach_fraction": 0.523713000570738, | |
| "tube_engagement_fraction": 0.536778828004201, | |
| "tube_on_rack": true, | |
| "upward_speed_mps": 0.07796895166685715 | |
| }, | |
| "rack_id": "TR-002", | |
| "rack_position": [ | |
| -0.1551909918820522, | |
| -0.0714292087563641, | |
| 0.79 | |
| ], | |
| "rack_yaw_deg": 2.4361792230343227, | |
| "randomization_results": { | |
| "assets": { | |
| "rack_id": "TR-002", | |
| "source_tube_has_cap": true, | |
| "tube_cap_present": true, | |
| "tube_id": "CT-009", | |
| "vortex_id": "VTX-005" | |
| }, | |
| "distractors": { | |
| "count": 4, | |
| "placements": [ | |
| { | |
| "asset_id": "TR-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5741490833972398, | |
| 0.30320707319464685, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.938757649340904, | |
| "yaw_deg": 63.08531239568961 | |
| }, | |
| { | |
| "asset_id": "RES-001", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| -0.5810249983932002, | |
| 1.046155097223721, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 1.0779417412649324, | |
| "yaw_deg": 129.2151380026828 | |
| }, | |
| { | |
| "asset_id": "TIP-008", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.3825521806299932, | |
| -0.19976431421269616, | |
| 0.79 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "main_table", | |
| "uniform_scale": 0.9439094037090803, | |
| "yaw_deg": 4.219745536253583 | |
| }, | |
| { | |
| "asset_id": "TR-005", | |
| "pitch_deg": 0.0, | |
| "position": [ | |
| 0.37786032950215087, | |
| 1.1091442308762984, | |
| 0.83 | |
| ], | |
| "roll_deg": 0.0, | |
| "surface": "rear_bench", | |
| "uniform_scale": 0.8549197386868177, | |
| "yaw_deg": 25.44888426039816 | |
| } | |
| ] | |
| }, | |
| "environment": { | |
| "background": { | |
| "accent_color_rgb": [ | |
| 0.2552159982770375, | |
| 0.4855976189028054, | |
| 0.66529842462856 | |
| ], | |
| "cabinet_color_rgb": [ | |
| 0.76065041315351, | |
| 0.7846304749897902, | |
| 0.7630437760024809 | |
| ], | |
| "floor_color_rgb": [ | |
| 0.30641619092419875, | |
| 0.35497219859182466, | |
| 0.37187192760635734 | |
| ], | |
| "screen_color_rgb": [ | |
| 0.514054094301869, | |
| 0.7747351231976475, | |
| 0.8887828517887195 | |
| ], | |
| "style": "clean_room", | |
| "wall_color_rgb": [ | |
| 0.7862231414222018, | |
| 0.8705300363135162, | |
| 0.9202594810384357 | |
| ] | |
| }, | |
| "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, | |
| 0.9296799333188613 | |
| ], | |
| "light_intensity": 2674.8546193178145, | |
| "table_color_rgb": [ | |
| 0.18, | |
| 0.48, | |
| 0.28 | |
| ] | |
| }, | |
| "layout": { | |
| "rack_position_m": [ | |
| -0.1551909918820522, | |
| -0.0714292087563641, | |
| 0.79 | |
| ], | |
| "rack_to_vortex_bearing_deg": 30.580861289193056, | |
| "rack_to_vortex_distance_m": 0.6416230944538766, | |
| "rack_yaw_deg": 2.4361792230343227, | |
| "return_slot_offset_xy_m": [ | |
| 0.034, | |
| 0.034 | |
| ], | |
| "returns_to_different_slot": true, | |
| "start_slot_offset_xy_m": [ | |
| -0.034, | |
| -0.034 | |
| ], | |
| "tube_return_position_m": [ | |
| -0.12266694375961841, | |
| -0.03601471604886354, | |
| 0.8152000000000001 | |
| ], | |
| "tube_start_position_m": [ | |
| -0.18771504000448602, | |
| -0.10684370146386467, | |
| 0.8152000000000001 | |
| ], | |
| "vortex_contact_position_m": [ | |
| 0.4146653504604096, | |
| 0.289621466450032, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_position_m": [ | |
| 0.39719003979662204, | |
| 0.25499902405779007, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -17.732446441921944 | |
| }, | |
| "liquid": { | |
| "color_rgb": [ | |
| 0.0496494953292306, | |
| 0.281588966743686, | |
| 0.2267579267138657 | |
| ], | |
| "effective_peak_level_fraction": 0.6604100588842433, | |
| "effective_vortex_level_rise_fraction": 0.21260106585353364, | |
| "fill_fraction": 0.44780899303070965, | |
| "opacity": 0.8819173243342187, | |
| "present": true, | |
| "vortex_level_rise_fraction": 0.21260106585353364 | |
| }, | |
| "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": 25280915, | |
| "trajectory": { | |
| "approach_pattern": "straight", | |
| "approach_sway_m": -0.011302357678605985, | |
| "depart_pattern": "spiral", | |
| "depart_sway_m": -0.011447670237132756, | |
| "handling_noise_amplitude_m": 0.0014476738449957396, | |
| "handling_noise_frequency_hz": 0.7296437666071378, | |
| "handling_noise_phase_xyz_rad": [ | |
| 0.9037794052002349, | |
| 4.761778226586184, | |
| 2.911858221831918 | |
| ], | |
| "lift_height_m": 0.15320434703150843, | |
| "orientation_noise_deg": 2.7631197421541542, | |
| "outbound_curve_bias": -0.715861719995135, | |
| "outbound_pattern": "direct", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 16.121541854978204, | |
| 17.338287095902633 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 0.8302253847585185 | |
| ], | |
| "lift_from_rack": [ | |
| 0.8302253847585185, | |
| 2.3752296827836292 | |
| ], | |
| "lower_to_rack": [ | |
| 15.202999981533317, | |
| 16.121541854978204 | |
| ], | |
| "lower_to_vortex": [ | |
| 5.846820633372816, | |
| 7.104559222943644 | |
| ], | |
| "raise_from_vortex": [ | |
| 11.192739636437118, | |
| 12.406800718398555 | |
| ], | |
| "transfer_to_rack": [ | |
| 12.406800718398555, | |
| 15.202999981533317 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.3752296827836292, | |
| 5.846820633372816 | |
| ], | |
| "vortex": [ | |
| 7.104559222943644, | |
| 11.192739636437118 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -22.35086548097459, | |
| "pick_line_tilt_deg": 5.086250424514288, | |
| "pick_pattern": "lean", | |
| "pick_sway_m": 0.00919212488591133, | |
| "put_pattern": "spiral", | |
| "put_sway_m": 0.009411114720135068, | |
| "rack_put_height_m": 0.1586440167748007, | |
| "return_bend_scale": 0.7299119242742383, | |
| "return_curve_bias": 0.36354954118818505, | |
| "return_pattern": "crescent", | |
| "return_side": 1.0, | |
| "return_vertical_arc_scale": 0.603548217057803, | |
| "transfer_bend_m": 0.28508947383946287, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 2.1026979196212388, | |
| "vertical_arc_m": 0.11564775038678848, | |
| "vortex_apparent_frequency_hz": 4.361159566767405, | |
| "vortex_approach_height_m": 0.34517452157893086, | |
| "vortex_depart_height_m": 0.09553450262851398, | |
| "vortex_frequency_hz": 34.361159566767405, | |
| "vortex_phase_rad": 1.8088819334928063, | |
| "vortex_radius_m": 0.000329198564570491, | |
| "vortex_tilt_deg": 0.2689252114856012 | |
| } | |
| }, | |
| "render_fps": 30, | |
| "resolution": [ | |
| 1920, | |
| 1200 | |
| ], | |
| "return_slot_offset_xy": [ | |
| 0.034, | |
| 0.034 | |
| ], | |
| "scene_id": "wrong_orientation/scene_000002", | |
| "schema_version": 15, | |
| "seed": 25280915, | |
| "shared_state_file": "shared_state.npz", | |
| "shared_state_sha256": "e9e94332a3853112080f5a8a8f1a323130f0d7ba903d2bbebd3edfe6079106ab", | |
| "simultaneous_camera_count": 3, | |
| "source_tube_has_cap": true, | |
| "start_slot_offset_xy": [ | |
| -0.034, | |
| -0.034 | |
| ], | |
| "subtype_event": { | |
| "category": "wrong_orientation", | |
| "event_phase": "vortex", | |
| "is_failure": true, | |
| "randomized_parameters": { | |
| "azimuth_deg": -160.6782415262597, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 34.19054955229976 | |
| }, | |
| "realized_outcome": { | |
| "azimuth_deg": -160.6782415262597, | |
| "liquid_level_rise_enabled": true, | |
| "orientation_mode": "tilted", | |
| "tilt_deg_from_z": 34.19054955229976, | |
| "vortex_motion_enabled": true | |
| }, | |
| "time_window_s": [ | |
| 7.104559222943644, | |
| 11.192739636437118 | |
| ] | |
| }, | |
| "table_color_rgb": [ | |
| 0.18, | |
| 0.48, | |
| 0.28 | |
| ], | |
| "task": "vortexing", | |
| "trajectory": { | |
| "approach_pattern": "straight", | |
| "approach_sway_m": -0.011302357678605985, | |
| "depart_pattern": "spiral", | |
| "depart_sway_m": -0.011447670237132756, | |
| "handling_noise_amplitude_m": 0.0014476738449957396, | |
| "handling_noise_frequency_hz": 0.7296437666071378, | |
| "handling_noise_phase_xyz_rad": [ | |
| 0.9037794052002349, | |
| 4.761778226586184, | |
| 2.911858221831918 | |
| ], | |
| "lift_height_m": 0.15320434703150843, | |
| "orientation_noise_deg": 2.7631197421541542, | |
| "outbound_curve_bias": -0.715861719995135, | |
| "outbound_pattern": "direct", | |
| "phase_boundaries_s": { | |
| "final_hold": [ | |
| 16.121541854978204, | |
| 17.338287095902633 | |
| ], | |
| "initial_hold": [ | |
| 0.0, | |
| 0.8302253847585185 | |
| ], | |
| "lift_from_rack": [ | |
| 0.8302253847585185, | |
| 2.3752296827836292 | |
| ], | |
| "lower_to_rack": [ | |
| 15.202999981533317, | |
| 16.121541854978204 | |
| ], | |
| "lower_to_vortex": [ | |
| 5.846820633372816, | |
| 7.104559222943644 | |
| ], | |
| "raise_from_vortex": [ | |
| 11.192739636437118, | |
| 12.406800718398555 | |
| ], | |
| "transfer_to_rack": [ | |
| 12.406800718398555, | |
| 15.202999981533317 | |
| ], | |
| "transfer_to_vortex": [ | |
| 2.3752296827836292, | |
| 5.846820633372816 | |
| ], | |
| "vortex": [ | |
| 7.104559222943644, | |
| 11.192739636437118 | |
| ] | |
| }, | |
| "pick_line_azimuth_deg": -22.35086548097459, | |
| "pick_line_tilt_deg": 5.086250424514288, | |
| "pick_pattern": "lean", | |
| "pick_sway_m": 0.00919212488591133, | |
| "put_pattern": "spiral", | |
| "put_sway_m": 0.009411114720135068, | |
| "rack_put_height_m": 0.1586440167748007, | |
| "return_bend_scale": 0.7299119242742383, | |
| "return_curve_bias": 0.36354954118818505, | |
| "return_pattern": "crescent", | |
| "return_side": 1.0, | |
| "return_vertical_arc_scale": 0.603548217057803, | |
| "transfer_bend_m": 0.28508947383946287, | |
| "transfer_side": 1.0, | |
| "transport_tilt_deg": 2.1026979196212388, | |
| "vertical_arc_m": 0.11564775038678848, | |
| "vortex_apparent_frequency_hz": 4.361159566767405, | |
| "vortex_approach_height_m": 0.34517452157893086, | |
| "vortex_depart_height_m": 0.09553450262851398, | |
| "vortex_frequency_hz": 34.361159566767405, | |
| "vortex_phase_rad": 1.8088819334928063, | |
| "vortex_radius_m": 0.000329198564570491, | |
| "vortex_tilt_deg": 0.2689252114856012 | |
| }, | |
| "trajectory_validation": { | |
| "duration_s": 17.338287095902633, | |
| "final_position_error_m": 0.0, | |
| "finite": true, | |
| "max_boundary_angular_jump_deg": 0.0, | |
| "max_boundary_position_jump_m": 3.273069708340169e-16, | |
| "max_quaternion_norm_error": 2.220446049250313e-16, | |
| "max_sample_step_m": 0.0020871470669941417, | |
| "valid": true, | |
| "wrong_orientation_contact_error_m": 0.0, | |
| "wrong_orientation_max_tilt_deg": 34.45943867753452, | |
| "wrong_orientation_min_tilt_deg": 33.921638997982946, | |
| "wrong_orientation_valid": true | |
| }, | |
| "tube_cap_present": true, | |
| "tube_drop": { | |
| "phase": "transfer_to_rack", | |
| "phase_fraction": 0.5144361233584742, | |
| "release_time_s": 13.845266627463424, | |
| "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": [ | |
| -0.12266694375961841, | |
| -0.03601471604886354, | |
| 0.8152000000000001 | |
| ], | |
| "tube_start_position": [ | |
| -0.18771504000448602, | |
| -0.10684370146386467, | |
| 0.8152000000000001 | |
| ], | |
| "video": "front.mp4", | |
| "video_sha256": "90b0daf2cea3ed3503f8e05a0aff5f2e8c0ee64cf27636fba014aea8e08c69e9", | |
| "video_validation": { | |
| "actual_frame_count": 520, | |
| "content_valid": true, | |
| "decode_error": null, | |
| "expected_frame_count": 520, | |
| "frame_count_valid": true, | |
| "full_decode_frame_count": 520, | |
| "max_changed_pixel_fraction": 0.00859982638888889, | |
| "mean_luminance": 152.54879760742188, | |
| "motion_valid": true, | |
| "resolution_valid": true, | |
| "sampled_frame_indices": [ | |
| 0, | |
| 86, | |
| 173, | |
| 260, | |
| 346, | |
| 432, | |
| 519 | |
| ], | |
| "spatial_standard_deviation": 33.382164001464844, | |
| "valid": true | |
| }, | |
| "view_index": 1, | |
| "view_order": [ | |
| "left", | |
| "front", | |
| "right" | |
| ], | |
| "vortex_contact_position": [ | |
| 0.4146653504604096, | |
| 0.289621466450032, | |
| 0.9580000000000001 | |
| ], | |
| "vortex_id": "VTX-005", | |
| "vortex_position": [ | |
| 0.39719003979662204, | |
| 0.25499902405779007, | |
| 0.79 | |
| ], | |
| "vortex_yaw_deg": -17.732446441921944, | |
| "wrong_orientation": { | |
| "azimuth_deg": -160.6782415262597, | |
| "mode": "tilted", | |
| "tilt_deg_from_z": 34.19054955229976 | |
| }, | |
| "wrong_rack": { | |
| "hole_relation": "too_small", | |
| "insertion_depth_m": 0.0, | |
| "insertion_succeeds": false, | |
| "placement_outcome": "physx_drop_pending", | |
| "position": [ | |
| -0.16047186503146882, | |
| 0.3642208168522818, | |
| 0.79 | |
| ], | |
| "rack_id": "TR-003", | |
| "release_azimuth_deg": 60.583082101078475, | |
| "release_lateral_offset_m": 0.017024528592372086, | |
| "release_phase_fraction": 0.6427712241459196, | |
| "release_tilt_deg": 28.592109916140913, | |
| "release_time_s": 15.793412265956773, | |
| "slot_offset_xy": [ | |
| 0.04, | |
| -0.019 | |
| ], | |
| "tube_target_position": [ | |
| -0.12327704439657036, | |
| 0.3401886442926123, | |
| 0.8500000000000001 | |
| ], | |
| "yaw_deg": -7.459435223578936 | |
| } | |
| } | |